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SICE Annual Conference

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence Uberlingen Germany Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Institute of System Dynamics University of Stuttgart Germany

We consider a setting where a team of multiple robots has to fulfil a mission in a specifically defined formation in a partially known environment. In many real environments, not all obstacles are previously known, but often most of them. For the planning of the optimal trajectory along these obstacles a mixed integer programming algorithm is used. If during the mission at least one of the robots detects a previously unknown obstacle, the control on each robot switches from centralized formation control to decentralized control. In this case, each robot is able to use its own set of fuzzy systems for obstacle avoidance and returns to the optimal trajectory after passing the unknown obstacles. This concept allows the robots to find the optimal trajectories for the mission task in known areas using the mixed integer programming. In unknown or for the mixed integer programming too complex scenarios the robots have to use the information based on their limited onboard sensors. With the sensor information they are in most cases able to find at least a possible way through the obstacles by using a set of onboard fuzzy systems for robot control

关键词： Robot control control systems Mobile robots Linear programming Fuzzy systems Centralized control Robot sensing systems Trajectory Switches Distributed control

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Experimental confirmation of n-scroll hyperchaotic attractors

Experimental confirmation of n-scroll hyperchaotic attractor...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Simin Yu Jinhu Lu Guanrong Chen College of Automation Guangdong University of Technology Guangzhou China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science슠Chinese Academy of Sciences Beijing China Department of Electronic Engineering City University of Hong Kong Hong Kong China

A systematic circuit design approach is proposed for experimental verification of hyperchaotic 2, 3, 4-scroll attractors from a generalized Matsumoto-Chua-Kobayashi (MCK) circuit. The recursive formulas for system par... 详细信息

关键词： Circuits Chaotic communication Hardware Equations Computer simulation Resistors Educational institutions Design automation Laboratories Automatic control

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A networked formation control for groups of mobile robots using mixed integer programming

A networked formation control for groups of mobile robots us...

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IEEE International Conference on Computer-Aided Design

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence 88662 Ueberlingen Germany The Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan The Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan The Institute of System Dynamics University of Stuttgart Stuttgart Germany

In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static formations as well as for formation switching between different kinds of formations where inter-robot collisions will be avoided and the formations are organized as unit-center-referenced formations. The environment itself can be formulated by convex polygons that are described as hybrid systems. The moving along the optimum trajectories is controlled by a controller structure in three levels, whereby the highest level is set on a master robot and controls the general formation using Bluetooth communication between the robots. The control of the position of each robot is realized by an individual controller on every robot and a motor controller for every wheel of each robot. The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots

关键词： Mobile robots Linear programming Communication system control Robot control Trajectory Mobile communication Quadratic programming Communication switching Bluetooth Wheels

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Development status of small-scale test rocket engine

Development status of small-scale test rocket engine

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AIAA/ASME/SAE/ASEE 42nd Joint Propulsion Conference

作者： Yoshida, Makoto Aoki, Hiroshi Fukuzoe, Moriyasu Naruo, Yoshihiro Niu, Kenichi Tomaru, Hiroshi 1 Koganezawa Kimigaya Kakuda Miyagi 981-1525 Japan Mitsubishi Heavy Industries Co. Ltd. 1200 Higashi-tanaka Komaki Aichi 485-8561 Japan Ishikawajima-Harima Heavy Industries Co. Ltd. 229 Tonogaya Mizuho-Machi Nishitama-Gun Tokyo 190-1297 Japan Rocket Engine System Section Rocket Engine Technology Center ISTA AIAA High-reliable System Design Section Rocket Engine Technology Center ISTA Office of Space Flight and Operations 2-1-1 Sengen Tsukuba Ibaraki 305-8505 Japan Department of Space Systems and Astronautics ISAS 3-1-1 Yoshinodai Sagamihara Kanagawa 229-8510 Japan Liquid Rocket Design Section Engine and Control Equipment Engineering Department Space Technology Group Research and Engineering Center

ISBN: (纸本)1563478188

A project to develop a small-scale test rocket engine, termed Pilot Engine, which aims at high reliability and high operability, is in progress. The purpose of this program is to demonstrate technical aspects such as integrated design methodology for highly reliable rocket engines, operation limit testing, and advanced engine simulation technology in a short period of time so as to make the most of the mobility of small size. The concept design has been finished for the 31kN Pilot Engine.

关键词： Project management

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Real-time Path Planning of Mobile Robots in Dynamic Uncertain Environment

Real-time Path Planning of Mobile Robots in Dynamic Uncertai...

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World Congress on Intelligent control and Automation (WCICA)

作者： Hui-zhong Zhuang Han Li Shu-xin Du Mechanical Electronical Engineering Department Vocational Technical College Shanghai University Engineering of Science Shanghai China Electronic Information Department Physics and Electronic Information College Wenzhou University Wenzhou Zhejiang China Institute of Intelligent Systems and Decision Making National Laboratory of Industrial Control Technology University of Zhejiang Hangzhou Zhejiang China

A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the desirable direction angle is taken into consideration as an index of path optimization. Its effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples

关键词： Path planning Mobile robots Robot kinematics Predictive models Orbital robotics Hidden Markov models Navigation Real time systems Industrial electronics Educational institutions

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Significance of Pacemaker vs. Non-Pacemaker Neurons in an Excitatory Rhythmic Network

Significance of Pacemaker vs. Non-Pacemaker Neurons in an Ex...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Liston K. Purvis Terrence M. Wright Jeffrey C. Smith Robert J. Butera Laboratory for Neuroengineering Georgia Institute of Technology Atlanta GA USA Department of Biology Emory University Atlanta GA USA Cellular and Systems Neurobiology Section Laboratory of Neural Control NINDS-National Institutes of Health Bethesda MD USA Laboratory for Neuroengineering and School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

This modeling study investigates the functional role of pacemaker neurons in generating stable rhythms in the pre-Botzinger complex, a subcircuit of the respiratory pattern-generating circuitry in mammals. While the presence of pacemakers within the network is without doubt, the percentage and significance of such pacemakers is still unresolved. Here we revisited earlier network simulations by varying the fraction of pacemaker and non-pacemaker neurons within the network, and quantifying the robustness of the input parameter space and range of frequencies output by the network. Stable network rhythms were possible even with no pacemakers. However, we found that a network of at least 50% pacemakers produced the greatest range of output frequencies and had the more robust input space

关键词： Pacemakers Neurons Frequency Rhythm Robustness Circuits Laboratories Neural engineering Cities and towns USA Councils

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Collision avoidance in an omni-directional wheelchair by using haptic feedback

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WSEAS Transactions on systems 2005年第1期4卷 79-84页

作者： Urbano, Juan Terashima, Kazuhiko Miyoshi, Takanori Kitagawa, Hideo Department of Production Systems Engineering Toyohashi University of Technology Hibarigaoka 1-1 Toyohashi Japan Department of Electronic Control Engineering Gifu National College of Technology Motosu Gifu Japan

The present paper gives a haptic feedback control of a holonomic Omni-directional Mobile Wheelchair (OMW) with a haptic joystick for the operation of disabled people or elderly people considering not only the navigation task but also user's safety. In the present research a haptic joystick was designed and applied with being maneuverable for users and free of joystick's vibrations. A way to build the local map around OMW is presented by considering the reliability of sensors data such as ultrasonic and PSD sensor. If an obstacle is detected in the direction of movement based on the local map information, the impedance of the joystick in this direction is changed. Namely, the closer the obstacle is the bigger the impedance value becomes. By this function, users spontaneously understand that they are in risk of obstacle collision and then users can change the direction of movement by their decision in order to avoid it. Two navigation modes are considered: one of them allows the user to approach a desired goal, and the other protects the user from obstacle collision. The proposed approach is thought to be reasonable as a man-machine existing control system.

关键词： Automation

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Announcements, comments, and acknowledgments

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AIAA Journal 2006年第1期44卷 1-10页

作者： Oran, Elaine Kailasanath, Kazhikathra Aggarwal, Suresh K. Ahmadian, Mehdi Alexandrov, Natalia Auweter-Kurtz, Monika Bailly, Christophe Balachandran, Balakumar Berman, Alex Candler, Graham V. Chelliah, Harsha K. Chokani, Ndaona Fujii, Kozo Gaitonde, Datta V. Ghia, Kirti Karman N. Givi, Peyman Gore, Jay P. Kaplan, Carolyn R. Livne, Eli Lucht, Robert P. Messac, Achille Wing, N.G. Palazotto, Anthony N. Pierre, Christophe Plotkin, Allen Roy, Ajit K. Saigal, Sunil Sforza, Pasquale M. Shivakumar, Kunigal N. So, Ronald M.C. Springer, Anthony M. Anatolitumin, Anthony M. Zhong, Xiaolin United States Division of Computational Physics United States United States AIAA United States APS United States National Academy of Engineering United States Center for Reactive Flow and Dynamical Systems Naval Research Laboratory United States Institute of Physics Department of Mechanical Engineering University of Illinois at Chicago United States ASME Combustion Institute Department of Mechanical Engineering Virginia Polytechnic Institute State University United States Aeronautics Systems Analysis Branch NASA Langley Research Center United States SIAM ISSMO Aerospace Engineering Institute of Space Systems Universität Stuttgart Germany Amelia Earhart Italy International Amelia Earhart Award Committee Italy France France Mechanical Engineering University of Maryland College Park United States AAM SPIE ASA ASME Technical Committees of Multi-Body Systems Nonlinear Dynamics Dynamics and Control of Structures and Systems American Helicopter Society United States Aerospace Engineering and Mechanics University of Minnesota United States AIAA Thermophysics Technical Committee Mechanical and Aerospace Engineering University of Virginia United States AIAA Propellants and Combustion Technical Committee AIAA's Transition Study Group Aerodynamics Measurement Technology Technical Committee Thermophysics Technical Committee Japan MOSAIC project on the Technology Pressure-sensitive Paint Measurement System Japan High-Speed Flows Group Air Vehicles Directorate Air Force Research Laboratory Wright-Patterson Air Force Base United States Wright State University United States Aerospace Engineering and Engineering Mechanics United States United States Mechanical Engineering University of Pittsburgh United States School of Mechanical Engineering Purdue University United States Committee on Heat Transfer in Fire and Combustion Systems Japan Board of Advisors Central States Section Combustion Institute United States AIChE United States Tau Beta Pi United States

No abstract available

关键词： Institute of Space and Astronautical Science American Society of Mechanical Engineers Direct Numerical Simulation Aerospace engineering MDO Propellant Air Forces Aerodynamics Heterogeneous Combustion NASA Langley Research Center

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Comparison of LMI based H2 control designs for VSC-HVDC transmission

Comparison of LMI based H2 control designs for VSC-HVDC tran...

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作者： Durrant, Martyn Aleksic, Katarina Werner, Herbert Abbott, Keith Institute of Control Engineering Hamburg University of Technology Hamburg 21073 Germany Department for Automatic Control University of Nis 18000 Nis Serbia Areva T and D Ltd. Power Electronic Systems Stafford United Kingdom

ISBN: (纸本)008045108X

The design of a robust controller for a VSC HVDC terminal using LMI based robust H2 and multi-objective H2- H∞ design methods is described. The operating range of the terminal is first characterised as an uncertainty region around a linear nominal model using the operating points of a non-linear model. The performance and robustness of controllers designed using the two methods and the effects of approximations in the uncertainty region definition are then described and compared. The best trade-off between robustness and performance on the non-linear model is demonstrated to be achieved using the robust H2 method. Copyright © 2005 IFAC.

关键词： controllers

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Velocity control of an omni-directional wheelchair considering user's comfort by suppresing vibration

Velocity control of an omni-directional wheelchair consideri...

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作者： Urbano, J. Terashima, K. Miyoshi, T. Kitagawa, Hideo Department of Production Systems Engineering Toyohashi University of Technology Hibarigaoka 1-1 Toyohashi 441-8580 Japan Department of Electronic Control Engineering Gifu National College of Technology Kamimakuwa Motosu Gifu 501-0495 Japan

ISBN: (纸本)0780389123

In this paper, riding comfort of an Omni-directional Wheelchair (OMW) driven by joystick is studied for the case when OMW moves in X direction, Y direction, or in a slanting direction. In order to achieve the comfort driving specific spectrum elements such as natural frequency of OMW and discomfort frequency of human organs are suppressed. In order to evaluate the comfort, a human model which considers human upper body composed of two parts: torso and head, has been developed and used in order to test the effectiveness of the proposed approach. Experimental results of velocity control are shown. © 2005 IEEE.

关键词： Motion control

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