Pub Date : 2023-09-16DOI: 10.1007/s10846-023-01963-7
Zhipeng Yu, Jianghai Zhao, Danhui Chen, Shuyan Chen, Xiaojie Wang
{"title":"Adaptive Gait Trajectory and Event Prediction of Lower Limb Exoskeletons for Various Terrains Using Reinforcement Learning","authors":"Zhipeng Yu, Jianghai Zhao, Danhui Chen, Shuyan Chen, Xiaojie Wang","doi":"10.1007/s10846-023-01963-7","DOIUrl":"https://doi.org/10.1007/s10846-023-01963-7","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135307970","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 : 2023-09-01DOI: 10.1007/s10846-023-01945-9
Charis Ntakolia, Georgios P. Kladis, Dimitrios V. Lyridis
Abstract Unmanned Surface Vehicles (USVs) are nowadays used in various applications for security, inspection and delivery among others. To operate in dynamic and complex environments efficiently demands an optimal path planning where multiple factors should be taken into account. In this paper, the multi-objective path planning problem of USV is formulated aiming to minimize the traveled distance maximizing in parallel the trajectory smoothness and energy efficiency. To address this multi-objective path planning problem with contradicting terms, the popular Ant Colony Optimization (ACO) algorithm is employed enhanced with the proposed Fuzzy Pareto framework. In particular, ACO is used to solve the problem by finding the Pareto solutions optimizing each single objective. Then these solutions are evaluated via the Mamdani fuzzy inference system to identify the optimal one. The ranking of the solutions is based on the defuzzification values. A case study is performed in a simulation area based on Saronic Gulf topology. The results showed that depending the needs of an operation and the conditions of the area of operations (number of obstacles, currents, and distance from the initial to the target point), each objective can impact the path quality differently.
{"title":"A Fuzzy Logic Approach of Pareto Optimality for Multi-objective Path Planning in case of Unmanned Surface Vehicle","authors":"Charis Ntakolia, Georgios P. Kladis, Dimitrios V. Lyridis","doi":"10.1007/s10846-023-01945-9","DOIUrl":"https://doi.org/10.1007/s10846-023-01945-9","url":null,"abstract":"Abstract Unmanned Surface Vehicles (USVs) are nowadays used in various applications for security, inspection and delivery among others. To operate in dynamic and complex environments efficiently demands an optimal path planning where multiple factors should be taken into account. In this paper, the multi-objective path planning problem of USV is formulated aiming to minimize the traveled distance maximizing in parallel the trajectory smoothness and energy efficiency. To address this multi-objective path planning problem with contradicting terms, the popular Ant Colony Optimization (ACO) algorithm is employed enhanced with the proposed Fuzzy Pareto framework. In particular, ACO is used to solve the problem by finding the Pareto solutions optimizing each single objective. Then these solutions are evaluated via the Mamdani fuzzy inference system to identify the optimal one. The ranking of the solutions is based on the defuzzification values. A case study is performed in a simulation area based on Saronic Gulf topology. The results showed that depending the needs of an operation and the conditions of the area of operations (number of obstacles, currents, and distance from the initial to the target point), each objective can impact the path quality differently.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135298323","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 : 2023-09-01DOI: 10.1007/s10846-023-01965-5
Kimon P. Valavanis
{"title":"JIRS Editorial, September 2023","authors":"Kimon P. Valavanis","doi":"10.1007/s10846-023-01965-5","DOIUrl":"https://doi.org/10.1007/s10846-023-01965-5","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"3 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135346816","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 : 2023-08-17DOI: 10.1007/s10846-023-01949-5
Tim Chen, J. C-y Chen
{"title":"Retraction Note: A New Viewpoint on Control Algorithms for Anthropomorphic Robotic Arms","authors":"Tim Chen, J. C-y Chen","doi":"10.1007/s10846-023-01949-5","DOIUrl":"https://doi.org/10.1007/s10846-023-01949-5","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136272445","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 : 2023-07-01DOI: 10.1007/s10846-023-01923-1
Hamed Fazlollahtabar, Mohammad Saidi-Mehrabad
{"title":"Retraction Note: Methodologies to Optimize Automated Guided Vehicle Scheduling and Routing Problems: A Review Study","authors":"Hamed Fazlollahtabar, Mohammad Saidi-Mehrabad","doi":"10.1007/s10846-023-01923-1","DOIUrl":"https://doi.org/10.1007/s10846-023-01923-1","url":null,"abstract":"","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135453894","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 : 1999-05-10DOI: 10.1109/ROBOT.1999.770013
J. Ryu, D. Kwon, Youngjin Park
A new robust controller design method is proposed to obtain a less conservative feedback controller and it is applied to a single-link flexible manipulator. The objective is to maximize the control performance guaranteeing the robust stability when regulating the tip position of the flexible manipulator in the presence of a large time-varying payload and parameter uncertainties such as stiffness and joint friction. A descriptor form representation, which allows separate treatment of payload uncertainty from other parametric uncertainties, is used to reduce the conservatism of the conventional robust control approaches. Uncertainty of the payload in the inertia matrix is represented by polytopic approach and the uncertain parameters in the damping and stiffness matrices are treated with descaling techniques. Using aforementioned techniques, the robust LQ controller design problem for a flexible manipulator based on the guaranteed cost approach is formulated. Then, the formulated problem is solved by LMIs.
{"title":"A Robust Controller Design Method for a Flexible Manipulator with a Large Time Varying Payload and Parameter Uncertainties","authors":"J. Ryu, D. Kwon, Youngjin Park","doi":"10.1109/ROBOT.1999.770013","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.770013","url":null,"abstract":"A new robust controller design method is proposed to obtain a less conservative feedback controller and it is applied to a single-link flexible manipulator. The objective is to maximize the control performance guaranteeing the robust stability when regulating the tip position of the flexible manipulator in the presence of a large time-varying payload and parameter uncertainties such as stiffness and joint friction. A descriptor form representation, which allows separate treatment of payload uncertainty from other parametric uncertainties, is used to reduce the conservatism of the conventional robust control approaches. Uncertainty of the payload in the inertia matrix is represented by polytopic approach and the uncertain parameters in the damping and stiffness matrices are treated with descaling techniques. Using aforementioned techniques, the robust LQ controller design problem for a flexible manipulator based on the guaranteed cost approach is formulated. Then, the formulated problem is solved by LMIs.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124272963","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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