Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525055
E. Tunstel, M. Akbarzadeh-T., K. Kumbla, M. Jamshidi
Three hybrid fuzzy control schemes for robotics applications are described. The first scheme concentrates on a control architecture which incorporates fuzzy logic theory into the framework of behavior control for mobile robot navigation. The second scheme develops a two-level hierarchical fuzzy control structure for flexible manipulators. It incorporates genetic algorithms (GA) in a learning scheme to adapt to various environmental conditions. The third scheme concentrates on a methodology that uses a neural network (NN) to adapt a fuzzy logic controller (FLC) in manipulator trajectory following tasks.
{"title":"Hybrid fuzzy-control schemes for robotic systems","authors":"E. Tunstel, M. Akbarzadeh-T., K. Kumbla, M. Jamshidi","doi":"10.1109/ISIC.1995.525055","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525055","url":null,"abstract":"Three hybrid fuzzy control schemes for robotics applications are described. The first scheme concentrates on a control architecture which incorporates fuzzy logic theory into the framework of behavior control for mobile robot navigation. The second scheme develops a two-level hierarchical fuzzy control structure for flexible manipulators. It incorporates genetic algorithms (GA) in a learning scheme to adapt to various environmental conditions. The third scheme concentrates on a methodology that uses a neural network (NN) to adapt a fuzzy logic controller (FLC) in manipulator trajectory following tasks.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128815985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525069
M. Hamerlain
The variable structure control (VSC) is based on switching functions of the state variables used to create a "sliding mode". The purpose is to force the system dynamics to correspond to the one defined by the surface equation. When the state is maintained on this surface, the system dynamics become insensitive to parameter variations of the plant, and to unmodeled nonlinearities. This paper is the follow up work on the controller design for two axis robot arm using a variable structure model reference adaptive controller. It addresses the design of sliding mode controllers for perturbed systems characterized by the presence of the switching element imperfections (delay, small time constants, and the unmodeled dynamics). It is shown that its specific reaching conditions are satisfied for the reduced-order models and an additional condition is met, then the reaching conditions are also satisfied for the full-order model (take into account unmodeled dynamics, small time constants, switching delays, etc.). In this note the sliding mode control law is considered for the reduced-order model, and a composite control is implemented on the full-order model. Further, in sliding mode the controller system design can be reduced into a lower-order and free system. Advantages of such a control law appear from the following viewpoints: methodology-the control law can be easily implemented in an online computer as a classical control law (PID, RST...); robustness to unmodeled dynamics (the plant dimension is higher than the one of the model); quality of tracking trajectory.
{"title":"Robust control with reduced knowledge of unmodeled dynamics using sliding mode: application to robot manipulators","authors":"M. Hamerlain","doi":"10.1109/ISIC.1995.525069","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525069","url":null,"abstract":"The variable structure control (VSC) is based on switching functions of the state variables used to create a \"sliding mode\". The purpose is to force the system dynamics to correspond to the one defined by the surface equation. When the state is maintained on this surface, the system dynamics become insensitive to parameter variations of the plant, and to unmodeled nonlinearities. This paper is the follow up work on the controller design for two axis robot arm using a variable structure model reference adaptive controller. It addresses the design of sliding mode controllers for perturbed systems characterized by the presence of the switching element imperfections (delay, small time constants, and the unmodeled dynamics). It is shown that its specific reaching conditions are satisfied for the reduced-order models and an additional condition is met, then the reaching conditions are also satisfied for the full-order model (take into account unmodeled dynamics, small time constants, switching delays, etc.). In this note the sliding mode control law is considered for the reduced-order model, and a composite control is implemented on the full-order model. Further, in sliding mode the controller system design can be reduced into a lower-order and free system. Advantages of such a control law appear from the following viewpoints: methodology-the control law can be easily implemented in an online computer as a classical control law (PID, RST...); robustness to unmodeled dynamics (the plant dimension is higher than the one of the model); quality of tracking trajectory.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128750762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525080
D. Famularo, P. Muraca
Most robot tactile sensing research has focused on object shape recognition with tactile sensors. In this paper we examine the model of a tactile pad sensor, assumed to be a finite dimension medium. The model of the tactile pad sensor is obtained using an integral relation between the boundary conditions and the stress tensor. A set of stress sensors is allocated in the tactile pad, the model is discretized and a direct relation between the parameters of the shape to be recognized and the measured stress is obtained. Due to the ill-posedness of the problem, classical least squares estimation and regularized estimation are examined. Numerical simulations in order to evaluate the inversion technique with different shapes of the object, are presented.
{"title":"Tactile sensor pad: shape recognition","authors":"D. Famularo, P. Muraca","doi":"10.1109/ISIC.1995.525080","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525080","url":null,"abstract":"Most robot tactile sensing research has focused on object shape recognition with tactile sensors. In this paper we examine the model of a tactile pad sensor, assumed to be a finite dimension medium. The model of the tactile pad sensor is obtained using an integral relation between the boundary conditions and the stress tensor. A set of stress sensors is allocated in the tactile pad, the model is discretized and a direct relation between the parameters of the shape to be recognized and the measured stress is obtained. Due to the ill-posedness of the problem, classical least squares estimation and regularized estimation are examined. Numerical simulations in order to evaluate the inversion technique with different shapes of the object, are presented.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116802587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525109
A. Alloum, A. Charara, M. Rombaut
This paper presents a vehicle dynamic model realization and a nonlinear control law to analyse the lane change manoeuvre realization by a driving assistance system. The unobservable part of the controlled system is studied and its stability is verified. This study was developed for the Pro-Art France project in the European Eureka Prometheus programme.
{"title":"Vehicle dynamic safety system by nonlinear control","authors":"A. Alloum, A. Charara, M. Rombaut","doi":"10.1109/ISIC.1995.525109","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525109","url":null,"abstract":"This paper presents a vehicle dynamic model realization and a nonlinear control law to analyse the lane change manoeuvre realization by a driving assistance system. The unobservable part of the controlled system is studied and its stability is verified. This study was developed for the Pro-Art France project in the European Eureka Prometheus programme.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115281283","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525058
D. Basch, M. Zagar
In this paper, the architecture of a fuzzy processor intended for high-speed control applications is described. Its main advantage is the inference speed that does not depend on the number of used inputs and rules. This is accomplished by the usage of content addressable memory as a rule set storage. The proposed architecture was simulated and the simulation results give the inference speed of about 200 KFLIPS.
{"title":"Processor architecture model for fuzzy control","authors":"D. Basch, M. Zagar","doi":"10.1109/ISIC.1995.525058","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525058","url":null,"abstract":"In this paper, the architecture of a fuzzy processor intended for high-speed control applications is described. Its main advantage is the inference speed that does not depend on the number of used inputs and rules. This is accomplished by the usage of content addressable memory as a rule set storage. The proposed architecture was simulated and the simulation results give the inference speed of about 200 KFLIPS.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126815638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525121
I. Lovrek
An intelligent network conceptual model has been analyzed from the knowledge representation viewpoint. A Petri net and derived net models are discussed as a formal framework for knowledge representation, reasoning and decision making. Problems within the intelligent network are classified according to requirements on the knowledge representation. A formalism for knowledge representation and reasoning suitable for an intelligent network is introduced. Some applications have been discussed.
{"title":"Petri net based knowledge representation for intelligent networks","authors":"I. Lovrek","doi":"10.1109/ISIC.1995.525121","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525121","url":null,"abstract":"An intelligent network conceptual model has been analyzed from the knowledge representation viewpoint. A Petri net and derived net models are discussed as a formal framework for knowledge representation, reasoning and decision making. Problems within the intelligent network are classified according to requirements on the knowledge representation. A formalism for knowledge representation and reasoning suitable for an intelligent network is introduced. Some applications have been discussed.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127033723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525125
M. Matijasevic
The paper presents the design and implementation of an experimental set of supplementary services over a conversational talk service in a local area network (LAN) environment, applying the principles of an intelligent structured network. The International Telecommunication Union (ITU) Intelligent Network Conceptual Model was applied as a formal framework. Special emphasis was put on the service functional modules, their decomposition on the different levels of abstraction, and the logic of their interconnection. The tools and models used in the detailed specification are referenced. The supporting intelligent local network application protocol was specified and a distributed software application was developed and implemented in the department's local network. Remote procedure call protocol software was used as an application programming interface.
{"title":"An example of application of the Intelligent Network Conceptual Model in the LAN environment","authors":"M. Matijasevic","doi":"10.1109/ISIC.1995.525125","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525125","url":null,"abstract":"The paper presents the design and implementation of an experimental set of supplementary services over a conversational talk service in a local area network (LAN) environment, applying the principles of an intelligent structured network. The International Telecommunication Union (ITU) Intelligent Network Conceptual Model was applied as a formal framework. Special emphasis was put on the service functional modules, their decomposition on the different levels of abstraction, and the logic of their interconnection. The tools and models used in the detailed specification are referenced. The supporting intelligent local network application protocol was specified and a distributed software application was developed and implemented in the department's local network. Remote procedure call protocol software was used as an application programming interface.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126435224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525122
Y.H. Lee, S. I. Yoo
Studies a new method for integrating forward and backward chaining controls based on a Rete network. The authors introduce the concept of the hypothesis objects, and augment the production rule format by adding the hypothesis condition elements in the LHS part of a rule, which control the forward and backward chaining invocation of rules. To be applied to the backward chaining, a modified version of the Rete network has been formulated by adding the hypothesis-and-nodes and backward direction edges to the node network generated by the Rete algorithm. The authors then develop a backward chaining algorithm which takes advantage of already existing partial match results obtained by the previous forward chaining. The forward and backward chaining can be naturally integrated via the generation of hypotheses from forward chaining inference. The whole mixed inference process has the potential advantages over purely forward and backward chaining strategy.
{"title":"A Rete-based integration of forward and backward chaining inferences","authors":"Y.H. Lee, S. I. Yoo","doi":"10.1109/ISIC.1995.525122","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525122","url":null,"abstract":"Studies a new method for integrating forward and backward chaining controls based on a Rete network. The authors introduce the concept of the hypothesis objects, and augment the production rule format by adding the hypothesis condition elements in the LHS part of a rule, which control the forward and backward chaining invocation of rules. To be applied to the backward chaining, a modified version of the Rete network has been formulated by adding the hypothesis-and-nodes and backward direction edges to the node network generated by the Rete algorithm. The authors then develop a backward chaining algorithm which takes advantage of already existing partial match results obtained by the previous forward chaining. The forward and backward chaining can be naturally integrated via the generation of hypotheses from forward chaining inference. The whole mixed inference process has the potential advantages over purely forward and backward chaining strategy.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131025561","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525104
E. Billard
A model is presented of the dynamics of many controllers in a distributed system, each controlling one element of a vector and, as a system, trying to optimize a function of the vector. It is assumed that the controllers apply an adaptive method to achieve the optimal result. The optimization is challenging since the controllers have delayed information concerning the individual elements of the control vector. The potential exists for each element to be viewed with its own unique delay. Linear stability analysis provides an upper bound of the conditions for damped oscillations and a lower bound on the conditions for persistent oscillations. The results indicate that controllers can improve performance with respect to stability by: 1) communicating more frequently, 2) interacting in smaller groups, 3) slowing down the adaptive search process, and 4) creating more diversity in the delays.
{"title":"Stability of distributed controllers with multiple delays","authors":"E. Billard","doi":"10.1109/ISIC.1995.525104","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525104","url":null,"abstract":"A model is presented of the dynamics of many controllers in a distributed system, each controlling one element of a vector and, as a system, trying to optimize a function of the vector. It is assumed that the controllers apply an adaptive method to achieve the optimal result. The optimization is challenging since the controllers have delayed information concerning the individual elements of the control vector. The potential exists for each element to be viewed with its own unique delay. Linear stability analysis provides an upper bound of the conditions for damped oscillations and a lower bound on the conditions for persistent oscillations. The results indicate that controllers can improve performance with respect to stability by: 1) communicating more frequently, 2) interacting in smaller groups, 3) slowing down the adaptive search process, and 4) creating more diversity in the delays.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131246868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525084
J. Kim, Y. Son, H. Cho, K. Koh
This paper presents a robotic seam tracking system which is aimed at achieving robustness against some welding noises such as arc glares, welding spatters, fumes etc. In particularly, a syntactic analysis is used to improve the extraction reliability of the joint features. The joint features thus obtained are used to extract the 3-dimensional information of the weld joint and then achieve the robot path correction. To show the performance of the developed system, a series of experiments on joint feature detection and robotic seam tracking are conducted for different types of weld joints. The results exhibit that the system is very robust to various welding noises as well as variations in appearance of weld joint and workpiece.
{"title":"A robust method for vision-based seam tracking in robotic arc welding","authors":"J. Kim, Y. Son, H. Cho, K. Koh","doi":"10.1109/ISIC.1995.525084","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525084","url":null,"abstract":"This paper presents a robotic seam tracking system which is aimed at achieving robustness against some welding noises such as arc glares, welding spatters, fumes etc. In particularly, a syntactic analysis is used to improve the extraction reliability of the joint features. The joint features thus obtained are used to extract the 3-dimensional information of the weld joint and then achieve the robot path correction. To show the performance of the developed system, a series of experiments on joint feature detection and robotic seam tracking are conducted for different types of weld joints. The results exhibit that the system is very robust to various welding noises as well as variations in appearance of weld joint and workpiece.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133641585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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