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International Conference on Control, Automation and Systems ( ICCAS)

作者： Eun-Jong Mo Min-Seok Jie Chin-Su Kim Kang-Woong Lee School of Electronics Telecommunication and Computer Engineering Korea Aerospace University Koyang Gyeonggi South Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea

A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the fuzzy inference logic system are measurement deviations of gas path parameters which are transferred directly from the ECM (Engine Control Monitoring) program and outputs are engine module faults. The proposed fuzzy inference logic system is tested using simulated data developed from the ECM trend plot reports and the results show that the proposed fuzzy inference logic system isolates module faults with high accuracy rate in the environment of high level of uncertainty.

关键词： Fuzzy logic Turbines Engines Electrochemical machining Fuzzy systems Logic testing Fluid flow measurement Velocity measurement Temperature Fuels

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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A Sparse Component Analysis Algorithm Based on Finite-Mixture-Model Learning

A Sparse Component Analysis Algorithm Based on Finite-Mixtur...

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IEEE International Conference on Integration technology (ICIT)

作者： Jianzhao Qin Zhi Wang Hanqing Hu Jun Cheng Xinyu Wu Yangsheng Xu Shenzhen Institute of Advanced Integration Technology Chinese Academy of Sciences Chinese University of Hong Kong Hong Kong China School of Optoelectronic Information University of Electronic Science and Technology China School of Computer and Communication Hunan University China Advanced Robotics Laboratory Chinese University of Hong Kong Hong Kong China

In this paper, a finite-mixture-model learning bused sparse component analysis (SCA) algorithm is proposed. In this algorithm, a finite-mixture-model learning method is applied for estimating the mixing matrix for SCA. The main advantage of this method is the ability of selecting the number of sources and measuring reliability of the columns of the estimated mixing matrix. That is, it can give us a probability measurement of the recovered sources, which help us to determine which recovered sources are more reliable and significant. The simulation results show the effectiveness of this algorithm.

关键词： Algorithm design and analysis Matrix decomposition Sparse matrices Independent component analysis Wavelet analysis Wavelet packets Learning systems Eigenvalues and eigenfunctions Clustering algorithms Information analysis

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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Proposal of a kit-style robot as the new standard platform for the four-legged league

Proposal of a kit-style robot as the new standard platform f...

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2006 Australasian Conference on robotics and Automation, ACRA 2006

作者： Chalup, S.K. Dickinson, M. Fisher, R. Middleton, R.H. Quinlan, M.J. Turner, P. Newcastle Robotics Laboratory School of Electrical Engineering and Computer Science Australia Newcastle Robotics Laboratory School of Design Communication and Information Technology University of Newcastle Callaghan 2308 Australia

ISBN: (纸本)9780958758383

In 2006 the Sony Corporation announced that production of the Aibo robot, which is the standard robot platform of the four-legged league of RoboCup, would be discontinued. This paper describes a prototype robot kit which could lead to a new standard platform for the four-legged league. The aims for development of the new platform can be summarized as follows: 1.) Continue and improve the concepts behind the Sony Aibo robot. 2.) Allow research into sophisticated quadruped soccer skills. 3.) Build an open systems robot to advance low level features and to support high level strategy planning and learning. 4.) Achieve faster and more exciting soccer games. 5.) Contribute to progress of the four-legged league, which to date has been a very successful league. 6.) Determine kit style hardware for year to year upgrades of selected modules. The robot kit allows for substantial new flexibility in hardware design in associated scientific challenges and research projects. The present paper addresses two possible versions of the proposed kit: terrier and bear.

关键词： Sports

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A comparative analysis and experimental study on wireless aerial and underwater acoustic communications

A comparative analysis and experimental study on wireless ae...

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International Conference on Digital Telecommunications 2006, ICDT'06

作者： Jurdak, Raja Lopes, Cristina Videira Aguiar, Pedro M. Q. Baldi, Pierre School of Information and Computer Science University of California California Institute for Telecommunications and Information Technology Calit2 Irvine CA 92697 Institute for Systems and Robotics / IST Lisboa Portugal

ISBN: (纸本)0769526500

Widely available speakers and microphones in electronic devices motivate the use of generic audio hardware to establish acoustic communication links. Acoustic communication with generic hardware requires software modems for data modulation and demodulation. The resulting acoustic communications system paves the way for cheap and easily deployable underwater acoustic sensor networks through the use of audio hardware built in to the sensor modules. In this paper, we explore the potential of the acoustic communication system for both aerial and underwater environments. Our experiments profile both media with generic microphones and speakers. An initial test of the channel's underwater data communication capability has revealed that the channel can transfer data at 12bps and 24bps, with respective error rates of 10% and 20%, up to a distance of 10m. © IEEE.

关键词： Wireless telecommunication systems

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Hybrid multiagent reinforcement learning approach: The pursuit problem

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Information technology Journal 2006年第6期5卷 1006-1011页

作者： Zhou, Pu-Cheng Hong, Bing-Rong Huang, Qing-Cheng Khurshid, Javaid Research Center of Multiagent and Robotics School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

How to coordinate the behaviors of the agents through learning is a challenging problem within cooperative multi-agent domains. As a generic machine learning method, reinforcement learning can suit the needs of multi-agent learning in many aspects. This study presents a novel approach, which using reinforcement learning to learn the coordinated actions of a group of cooperative agents, without requiring explicit communication among them. The proposed approach combines advantages of the modular architecture, profit-sharing learning and opponent modeling technique in a single multi-agent framework. The effectiveness of the technique is demonstrated using the pursuit problem. © 2006 Asian Network for Scientific Information.

关键词： Learning systems

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A parallel cost-based abductive reasoning system on workstation cluster

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Systems and computers in Japan 2006年第3期37卷 80-89页

作者： Kato, Shohei Nakamura, Tomonori Itoh, Hidenori Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Nagoya 466-8555 Japan Department of Intelligent and Computer Science Nagoya Institute of Technology Nagoya 466-8555 Japan Matsushita Electric Industrial Corp. Department of Computer Science and Engineering Nagoya Institute of Technology Information Processing Society of Japan Japanese Society for Artificial Intelligence Robotics Society of Japan Development of Home Networks Platform Development Center Department of Computer Science and Engineering Society for Science on Form Japan

This paper proposes a method for dynamic load balancing which works efficiently in the workstation cluster environment. A parallel abductive reasoning system based on the proposed method is also proposed. In the workstation cluster environment, parallel processing is performed using workstations with various processing abilities and loads. Thus, dynamic load balancing must consider the performance and loading conditions of the workstations. This paper proposes a method of estimating the processing ability of the workstation during operation, and also a dynamic load balancing algorithm to balance the estimated conditions. Using the proposed method, a parallel abductive reasoning system which can derive the most preferable explanation for a given observation is implemented. The results of experiments on the system are also reported. © 2006 Wiley Periodicals, Inc.

关键词： Information retrieval systems

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On the walking control for humanoid robot based on the kinematic resolution of CoM Jacobian with embedded motion

On the walking control for humanoid robot based on the kinem...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Youngjin Choi Doik Kim Bum-Jae You School of Electrical Engineering and Computer Scien Hanyang University Ansan South Korea Intelligent Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motion makes a humanoid robot balanced automatically during the movement of the all other limbs. Actually, it offers the ability of whole body coordination to the humanoid robot. Third, the walking controller is composed of the CoM controller minus the ZMP (zero momentum position) controller. Also, we show that the proposed walking controller brings the disturbance input-to-state stability (ISS) for the simplified bipedal walking robot model. Finally, the effectiveness of the proposed kinematic resolution method and walking controller is shown through experiments in regard to humanoid robot dancing and walking

关键词： Legged locomotion Motion control Robot control Humanoid robots Jacobian matrices Automatic control Biological system modeling Robot kinematics Automatic generation control Weight control

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Usability and interoperability of IEC 61499 based distributed automation systems

Usability and interoperability of IEC 61499 based distribute...

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2006 IEEE International Conference on Industrial Informatics, INDIN'06

作者： Sünder, Christoph Zoitl, Alois Christensen, James H. Vyatkin, Valeriy Brennan, Robert W. Valentini, Antonio Ferrarini, Luca Strasser, Thomas Martinezlastra, Jose L. Auinger, Franz Vienna University of Technology Gusshausstraße 27-29/376 1040 Vienna Austria Holobloc Inc. Cleveland Heigths OH United States Dept. of Electrical and Computer Engineering University of Auckland Auckland New Zealand Schulich School of Engineering Universit of Calgary Calgary AB T2N 1N4 Canada Italy Dipartimento di Elettronica e Informazione Politecnico di Milano 20133 Milano Italy Robotics and Adaptive Systems PROFACIOR Produktionsforschungs GmbH 4407 Steyr-Gleink Austria Institute of Poduction Engineering Tampere University of Technology 33101 Tampere Finland Automation Engineering Upper Austrian University of Applied Science 4600 Wels Austria

ISBN: (纸本)0780397010

Since IEC 61499 has reached the state of an International Standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks. © 2006 IEEE.

关键词： Distributed computer systems

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