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2nd New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems, ANNES 1995

作者： Hammerschmidt, O. Doersam, T. Inst. for Microcomput. and Autom. Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany Institute for Real-Time Computer Systems and Robotics Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany

ISBN: (纸本)0818671742

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE.

关键词： Controllers

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Actuation in microsystems: problem field overview and practical example of the piezoelectric robot for handling of microobjects

Actuation in microsystems: problem field overview and practi...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Magnussen S. Fatikow U. Rembold Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Redl-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Microsystems, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the problem field of the microactuation and various kinds of actuation principles referring to the use of microrobots. To provide a microrobot with both the transportation and micromanipulation capabilities, various designs of piezoelectric actuators can be used. The piezoelectric robot for handling of microobjects (PROHAM) is proposed. The robot is equipped with three piezoelectrically driven legs, whereby it can move at a speed of several mm/sec. A manipulation tool, e.g. needle, pipette, gripper or glue applicator, can be mounted onto the robot's platform. The tool is driven by piezoelectric effect as well, and movements with an accuracy of 10 nm are possible. This allows the manipulation of very small objects under a microscope. The PROHAM can be used e.g. for the manipulation of biological cells, microassembly or testing of silicon chips.

关键词： Robots Transportation Piezoelectric actuators Legged locomotion Leg Needles Grippers Applicators Piezoelectric effect Microscopy

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Process automation using adaptive fuzzy control

Process automation using adaptive fuzzy control

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New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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Preface

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 1995年 967卷 V-VI页

作者： Bowen, Jonathan Hincbey, Mike Oxford University Computing Laboratory Wolfson Building Parks Road Oxford United Kingdom Real-Time Computing Laboratory New Jersey Institute of Technology University Heights NewarkNJ United States Department of Computer Science and Information Systems University of Limerick Plassey Technological Park Castletroy Limerick Ireland

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THE CONTROL ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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CONTROL ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT CONTROL ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

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Steady‐state security evaluation of electrical power systems by means of artificial neural network

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European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

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A variable structure force controller for robotic manipulators

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IFAC Proceedings Volumes 1994年第14期27卷 481-486页

作者： I.E. Paromtchik M. Damm L.I. Matioukhina University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

Hybrid position/force control for robotic manipulators is considered. The control is carried out in task coordinates. For the force control the non-linear variable structure controller is presented and investigated. The controller maintains the system to reach and remain at the switching hypersurfaces, consisting of internal coordinates of the force controller. The stability of the system and the existing of the sliding mode are analyzed by means of the second Lyapunov method. The developed non-linear force controller was implemented for the hybrid position/force control of a PUMA 200 manipulator. The experimental setup and obtained results are described.

关键词： Position/force control robot variable structure systems stability

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Emulation of spline curves and its applications in robot motion control

Emulation of spline curves and its applications in robot mot...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Zhang J. Raczkowsky A. Herp Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Germany

The paper presents the design of a fuzzy controller to emulate spline curves for generating smooth motion trajectories. Spline models and a fuzzy control model are compared. Based on this comparison, a fuzzy control model is devised to make the robot continuously pass through the planned subgoals guiding the robot motion. By analyzing primitive movements along subgoals, the rule base can be developed. System structures are proposed for applying this fuzzy controller in the hierarchical motion control of robot systems. Its applications in robot arms and mobile robots are also presented.< >

关键词： Emulation Spline Robot motion Motion control Robot control Fuzzy control Control systems Intelligent robots Fuzzy systems Robot sensing systems

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A practical approach to motion generation and control for an omnidirectional mobile robot

A practical approach to motion generation and control for an...

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IEEE International Conference on robotics and Automation (ICRA)

作者： I.E. Paromtchik U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results.< >

关键词： Motion control Mobile robots Spline Remotely operated vehicles Sensor systems Polynomials Communication system control Kinematics Wheels Space vehicles

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Design of a fuzzy controller for optimal execution of subgoal-guided robot motions

Design of a fuzzy controller for optimal execution of subgoa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jianwei Zhang A. Herp Inst. for Real-Time Computer Systems and Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in real time as well as a possibility of integrating sensor data for the subgoal-guided motion.< >

关键词： Fuzzy control Optimal control Motion control Path planning Orbital robotics Robot sensing systems Motion planning Collision avoidance Solid modeling Control systems

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