Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525061
J. Lentz, L. Acar
A hierarchical intelligent control strategy based on the physical components of a system was applied to the control of a robot arm. The controller was designed to make local decisions and carry out local actions to manipulate various different objects on a work table. The information about the environment was provided by a simulated vision system. To design the hierarchical controller the robot arm was first decomposed into its components. Next, functionalities were assigned to the nodes in terms of goals, tasks, procedures, constraints, measurements, and resources. The goals were then propagated down the hierarchy, with constraints applied to enforce the necessary sequential operation in real-time. To provide external information to nodes and to help them evaluate their constraints, temporary connections which are called smart links were used.
{"title":"A hierarchical intelligent controller for a three link robot arm","authors":"J. Lentz, L. Acar","doi":"10.1109/ISIC.1995.525061","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525061","url":null,"abstract":"A hierarchical intelligent control strategy based on the physical components of a system was applied to the control of a robot arm. The controller was designed to make local decisions and carry out local actions to manipulate various different objects on a work table. The information about the environment was provided by a simulated vision system. To design the hierarchical controller the robot arm was first decomposed into its components. Next, functionalities were assigned to the nodes in terms of goals, tasks, procedures, constraints, measurements, and resources. The goals were then propagated down the hierarchy, with constraints applied to enforce the necessary sequential operation in real-time. To provide external information to nodes and to help them evaluate their constraints, temporary connections which are called smart links were used.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"2012 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":"131765298","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.1995.525064
R. Fernández
This paper describes an object-oriented implementation model for low-level digital control algorithms (i.e., directly servoing the joint actuator) used in robotics and automation applications. Employing the object-oriented programming (OOP) approach, this technique defines said algorithm as a self-standing entity-a C++ class-which interacts with higher control modules (e.g., task or path planners) through a standardized interface. The result is an autonomous control object which may be easily exchanged, improved and reused across controller platforms. Furthermore, when implemented in conjunction with dynamic linking services provided by such operating systems as Microsoft Windows, the control algorithm becomes a software "building block" which the user selects and attaches to the controller at run-time rather than compile-time. This approach has been applied with success in the controller software for an experimental two-degree-of-freedom robot developed in support of a comprehensive program of digital control research activities.
{"title":"An object-oriented implementation of low-level digital control algorithms in the Microsoft Windows/C++ environment","authors":"R. Fernández","doi":"10.1109/ISIC.1995.525064","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525064","url":null,"abstract":"This paper describes an object-oriented implementation model for low-level digital control algorithms (i.e., directly servoing the joint actuator) used in robotics and automation applications. Employing the object-oriented programming (OOP) approach, this technique defines said algorithm as a self-standing entity-a C++ class-which interacts with higher control modules (e.g., task or path planners) through a standardized interface. The result is an autonomous control object which may be easily exchanged, improved and reused across controller platforms. Furthermore, when implemented in conjunction with dynamic linking services provided by such operating systems as Microsoft Windows, the control algorithm becomes a software \"building block\" which the user selects and attaches to the controller at run-time rather than compile-time. This approach has been applied with success in the controller software for an experimental two-degree-of-freedom robot developed in support of a comprehensive program of digital control research activities.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"13 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":"124639951","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.1995.525060
J. Albus, A. Lacaze, A. Meystel
This paper presents an algorithm of unsupervised learning for applications in robotics. Minimum initial knowledge is presumed ("bootstrap knowledge"). The learning system uses the newly arrived information to extract rules of motion and construct the world representation. The concept of recursive generalization is explored as the main tool of rule extraction and knowledge organization. The experiment in learning is described based upon simulation of a 2D and a 3D mobile system.
{"title":"Multiresolutional intelligent controller for baby robot","authors":"J. Albus, A. Lacaze, A. Meystel","doi":"10.1109/ISIC.1995.525060","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525060","url":null,"abstract":"This paper presents an algorithm of unsupervised learning for applications in robotics. Minimum initial knowledge is presumed (\"bootstrap knowledge\"). The learning system uses the newly arrived information to extract rules of motion and construct the world representation. The concept of recursive generalization is explored as the main tool of rule extraction and knowledge organization. The experiment in learning is described based upon simulation of a 2D and a 3D mobile system.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"14 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":"124047113","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.1995.525112
A. Stopp, T. Riethmuller
Describes a new and fast path planning algorithm for sensor-based robot navigation. The goal of path planning is the computation of the fastest path from a start point to a destination point in a workspace. It should be able to react to unexpected obstacles by means of fast reactive replanning. The authors use a diffusion algorithm for multi-dimensional workspaces (e.g. 2D, 3D, etc.). Application of a multi-layer map which is permanently updated by new sensor information to intelligently select one of the possible paths distinguishes this approach from prior work in this field. The proposed diffusion algorithm is formulated in the data-parallel language C*; in the case of a 3D workspace there is a comparison between response time duration on a SUN Sparcstation 20 and a Connection machine CM-5 with 32 nodes.
{"title":"Fast reactive path planning by 2D and 3D multi-layer spatial grids for mobile robot navigation","authors":"A. Stopp, T. Riethmuller","doi":"10.1109/ISIC.1995.525112","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525112","url":null,"abstract":"Describes a new and fast path planning algorithm for sensor-based robot navigation. The goal of path planning is the computation of the fastest path from a start point to a destination point in a workspace. It should be able to react to unexpected obstacles by means of fast reactive replanning. The authors use a diffusion algorithm for multi-dimensional workspaces (e.g. 2D, 3D, etc.). Application of a multi-layer map which is permanently updated by new sensor information to intelligently select one of the possible paths distinguishes this approach from prior work in this field. The proposed diffusion algorithm is formulated in the data-parallel language C*; in the case of a 3D workspace there is a comparison between response time duration on a SUN Sparcstation 20 and a Connection machine CM-5 with 32 nodes.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"247 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":"117165968","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.1995.525113
R. Zulli, R. Fierro, G. Conte, F. L. Lewis
The design of autonomous robots relies heavily on the development of feasible and efficient motion planning and control algorithms. Such a design must consider the non-holonomic constraints which characterize the existing wheeled mobile robots. In this paper the integration of reliable procedures for motion planning and for control is performed by means of an appropriate interface, taking into account the geometric, kinematic and dynamic models of the mobile base. Simulation results show the effectiveness of the proposed approach.
{"title":"Motion planning and control for non-holonomic mobile robots","authors":"R. Zulli, R. Fierro, G. Conte, F. L. Lewis","doi":"10.1109/ISIC.1995.525113","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525113","url":null,"abstract":"The design of autonomous robots relies heavily on the development of feasible and efficient motion planning and control algorithms. Such a design must consider the non-holonomic constraints which characterize the existing wheeled mobile robots. In this paper the integration of reliable procedures for motion planning and for control is performed by means of an appropriate interface, taking into account the geometric, kinematic and dynamic models of the mobile base. Simulation results show the effectiveness of the proposed approach.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"94 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":"123269369","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.1995.525085
D. Reay, M. Mirkazemi-Moud, B. Williams
The use of switched reluctance motors in position servo applications is complicated by their non-linear torque production characteristics. In this paper, the use of fuzzy logic to overcome this problem is described. The approach taken is that of exact input-output linearisation of the non-linear motor characteristic using a fast inner control loop in conjunction with a slower outer position control loop. The application of adaptive fuzzy systems to learn the input-output linearisation characteristic for a motor has been reported previously. This paper is concerned with the design of an outer, fuzzy logic based, position control loop. Fuzzy controllers are compared and contrasted with linear controllers and with non-linear sliding mode controllers. Experimental results from a 4 kW four phase switched reluctance motor using a fuzzy controller that is equivalent to a simple sliding mode controller are presented and the applicability of fuzzy logic to this control problem is discussed.
{"title":"On the appropriate uses of fuzzy systems: fuzzy sliding mode position control of a switched reluctance motor","authors":"D. Reay, M. Mirkazemi-Moud, B. Williams","doi":"10.1109/ISIC.1995.525085","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525085","url":null,"abstract":"The use of switched reluctance motors in position servo applications is complicated by their non-linear torque production characteristics. In this paper, the use of fuzzy logic to overcome this problem is described. The approach taken is that of exact input-output linearisation of the non-linear motor characteristic using a fast inner control loop in conjunction with a slower outer position control loop. The application of adaptive fuzzy systems to learn the input-output linearisation characteristic for a motor has been reported previously. This paper is concerned with the design of an outer, fuzzy logic based, position control loop. Fuzzy controllers are compared and contrasted with linear controllers and with non-linear sliding mode controllers. Experimental results from a 4 kW four phase switched reluctance motor using a fuzzy controller that is equivalent to a simple sliding mode controller are presented and the applicability of fuzzy logic to this control problem is discussed.","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":"128914052","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.1995.525095
R. Rajagopalan, D. Minano
This paper presents the development and the performance of a guidance controller for automated transit vehicles operating at high speeds. The controller is based on a feedforward neural network with the back propagation algorithm for learning. Traditional back-propagation neural controllers make use of a fixed learning factor. Herein, a controller with variable learning rate, whose value depends on the operating parameters of the vehicle is described. The operating parameters considered are the linear speed of the vehicle, the instantaneous position and the orientation offsets of the longitudinal axis of the vehicle with respect to the track. Empirical relationships are derived to compute the suitable learning rates in real-time. Simulation studies illustrate that the vehicle recovers from initial offsets and follows the track within few seconds for vehicle speeds less than 4.0 m/s (14 km/hr).
{"title":"Variable learning rate neuromorphic guidance controller for automated transit vehicles","authors":"R. Rajagopalan, D. Minano","doi":"10.1109/ISIC.1995.525095","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525095","url":null,"abstract":"This paper presents the development and the performance of a guidance controller for automated transit vehicles operating at high speeds. The controller is based on a feedforward neural network with the back propagation algorithm for learning. Traditional back-propagation neural controllers make use of a fixed learning factor. Herein, a controller with variable learning rate, whose value depends on the operating parameters of the vehicle is described. The operating parameters considered are the linear speed of the vehicle, the instantaneous position and the orientation offsets of the longitudinal axis of the vehicle with respect to the track. Empirical relationships are derived to compute the suitable learning rates in real-time. Simulation studies illustrate that the vehicle recovers from initial offsets and follows the track within few seconds for vehicle speeds less than 4.0 m/s (14 km/hr).","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"17 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":"128633496","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.1995.525098
H. Ando, I. Suzuki, Masafumi Yamashita
Discusses fundamental formation and agreement problems for autonomous, synchronous robots with limited visibility. Each robots is a mobile processor that, at each discrete time instant, observes the relative positions of those robots that are within distance V of itself, computes its new position using the given algorithm, and then moves to that position. The main difference between this work and many of the previous ones is that, here, the visibility of the robots is assumed to be limited to within distance V, for some constant V>0. The problems the authors discuss include the formation of a single point by the robots and agreement on a common x-y coordinate system and the initial distribution, and they present algorithms for these problems, except for the problem of agreement on direction (a subproblem of agreement on a coordinate system), which is not solvable even for robots with unlimited visibility. The discussions the authors present indicate that the correctness proofs of the algorithms for robots with limited visibility can be considerably more complex than those for robots with unlimited visibility.
{"title":"Formation and agreement problems for synchronous mobile robots with limited visibility","authors":"H. Ando, I. Suzuki, Masafumi Yamashita","doi":"10.1109/ISIC.1995.525098","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525098","url":null,"abstract":"Discusses fundamental formation and agreement problems for autonomous, synchronous robots with limited visibility. Each robots is a mobile processor that, at each discrete time instant, observes the relative positions of those robots that are within distance V of itself, computes its new position using the given algorithm, and then moves to that position. The main difference between this work and many of the previous ones is that, here, the visibility of the robots is assumed to be limited to within distance V, for some constant V>0. The problems the authors discuss include the formation of a single point by the robots and agreement on a common x-y coordinate system and the initial distribution, and they present algorithms for these problems, except for the problem of agreement on direction (a subproblem of agreement on a coordinate system), which is not solvable even for robots with unlimited visibility. The discussions the authors present indicate that the correctness proofs of the algorithms for robots with limited visibility can be considerably more complex than those for robots with unlimited visibility.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"15 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":"121192191","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.1995.525087
M. Desylva, J. Vagners
Presents a new hybrid fuzzy logic controller which can balance an inverted pendulum supported on a linear track cart starting from arbitrary initial conditions for the pendulum. The controller is hybrid in the sense that it combines fuzzy logic, deterministic rules and energy based control concepts. The experimental equipment is briefly described and the controller structure defined. Performance of the controller with hardware-in-the-loop is then presented. The paper concludes with a design challenge for control systems designers.
{"title":"Hybrid fuzzy logic control to stabilize an inverted pendulum from arbitrary initial conditions","authors":"M. Desylva, J. Vagners","doi":"10.1109/ISIC.1995.525087","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525087","url":null,"abstract":"Presents a new hybrid fuzzy logic controller which can balance an inverted pendulum supported on a linear track cart starting from arbitrary initial conditions for the pendulum. The controller is hybrid in the sense that it combines fuzzy logic, deterministic rules and energy based control concepts. The experimental equipment is briefly described and the controller structure defined. Performance of the controller with hardware-in-the-loop is then presented. The paper concludes with a design challenge for control systems designers.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"46 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":"116323153","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.1995.525092
R. Fierro, F. Lewis
A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodelled bounded disturbances and/or unstructured unmodelled dynamics in the vehicle.
{"title":"Control of a nonholonomic mobile robot using neural networks","authors":"R. Fierro, F. Lewis","doi":"10.1109/ISIC.1995.525092","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525092","url":null,"abstract":"A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodelled bounded disturbances and/or unstructured unmodelled dynamics in the vehicle.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"23 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":"123793295","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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