WorldWideScience

Sample records for commands control robot

  1. Spoken commands control robot that handles radioactive materials

    International Nuclear Information System (INIS)

    Phelan, P.F.; Keddy, C.; Beugelsdojk, T.J.

    1989-01-01

    Several robotic systems have been developed by Los Alamos National Laboratory to handle radioactive material. Because of safety considerations, the robotic system must be under direct human supervision and interactive control continuously. In this paper, we describe the implementation of a voice-recognition system that permits this control, yet allows the robot to perform complex preprogrammed manipulations without the operator's intervention. To provide better interactive control, we connected to the robot's control computer, a speech synthesis unit, which provides audible feedback to the operator. Thus upon completion of a task or if an emergency arises, an appropriate spoken message can be reported by the control computer. The training programming and operation of this commercially available system are discussed, as are the practical problems encountered during operations

  2. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  3. Robot Task Commander with Extensible Programming Environment

    Science.gov (United States)

    Hart, Stephen W (Inventor); Yamokoski, John D. (Inventor); Wightman, Brian J (Inventor); Dinh, Duy Paul (Inventor); Gooding, Dustin R (Inventor)

    2014-01-01

    A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task.

  4. Gesture Commanding of a Robot with EVA Gloves

    Data.gov (United States)

    National Aeronautics and Space Administration — Gestures commands allow a human operator to directly interact with a robot without the use of intermediary hand controllers. There are two main types of hand gesture...

  5. Multi-robot control interface

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  6. Pyrotechnic robot - constructive design and command

    Directory of Open Access Journals (Sweden)

    Ionel A. Staretu

    2013-10-01

    Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.

  7. Kinematic control of robot with degenerate wrist

    Science.gov (United States)

    Barker, L. K.; Moore, M. C.

    1984-01-01

    Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

  8. The ergonomics of command and control

    OpenAIRE

    Stanton, NA; Baber, C

    2006-01-01

    Since its inception, just after the Second World War, ergonomics research has paid special attention to the issues surrounding human control of systems. Command and Control environments continue to represent a challenging domain for Ergonomics research. We take a broad view of Command and Control research, to include C2 (Command and Control), C3 (Command, Control and Communication), and C4 (Command, Control, Communication and Computers) as well as human supervisory control paradigms. This spe...

  9. Global Command and Control Management Structure

    National Research Council Canada - National Science Library

    1995-01-01

    This instruction establishes: responsibilities for the Joint Staff, Services, Defense agencies, combatant and functional unified commands, and other activities regarding management of Global Command and Control (GCC...

  10. Using Arm and Hand Gestures to Command Robots during Stealth Operations

    Science.gov (United States)

    Stoica, Adrian; Assad, Chris; Wolf, Michael; You, Ki Sung; Pavone, Marco; Huntsberger, Terry; Iwashita, Yumi

    2012-01-01

    Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-of-freedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.

  11. Three dimensional visualization to support command and control

    International Nuclear Information System (INIS)

    Van Slambrook, G.A.

    1997-04-01

    Virtual reality concepts are changing the way one thinks about and with computers. The concepts have already proven their potential usefulness in a broad range of applications. This research was concerned with exploring and demonstrating the utility of virtual reality in robotics and satellite command and control applications. The robotics work addressed the need to quickly build accurate graphical models of physical environments by allowing a user to interactively build a model of a remote environment by superimposing stereo graphics onto live stereo video. The satellite work addressed the fusion of multiple data sets or models into one synergistic display for more effective training, design, and command and control of satellite systems

  12. Command and Control : faster decisions

    CSIR Research Space (South Africa)

    Venter, C

    2012-10-01

    Full Text Available Decisions 4th Biennial Conference Presented by Cobus Venter 10 October 2012 ? CSIR 2012 Slide 2 Command and Control Planning TaskingControl Assessment Si tu at io n DPSS Objective Ends Increase the Defence Capability of South Africa Ways... Supported by SAAB THALES Global CommsDPSS DDSI ERGOTECH Cooperation to make it work Example 1: Future SA Army Strategy and Joint Operations Support Campus Experiment Example 1: Future SA Army Strategy and Joint Operations Support Campus Experiment...

  13. Research into command, control, and communications in space construction

    Science.gov (United States)

    Davis, Randal

    1990-01-01

    Coordinating and controlling large numbers of autonomous or semi-autonomous robot elements in a space construction activity will present problems that are very different from most command and control problems encountered in the space business. As part of our research into the feasibility of robot constructors in space, the CSC Operations Group is examining a variety of command, control, and communications (C3) issues. Two major questions being asked are: can we apply C3 techniques and technologies already developed for use in space; and are there suitable terrestrial solutions for extraterrestrial C3 problems? An overview of the control architectures, command strategies, and communications technologies that we are examining is provided and plans for simulations and demonstrations of our concepts are described.

  14. Supervisory control for a complex robotic system

    International Nuclear Information System (INIS)

    Miller, D.J.

    1988-01-01

    The Robotic Radiation Survey and Analysis System investigates the use of advanced robotic technology for performing remote radiation surveys on nuclear waste shipping casks. Robotic systems have the potential for reducing personnel exposure to radiation and providing fast reliable throughput at future repository sites. A primary technology issue is the integrated control of distributed specialized hardware through a modular supervisory software system. Automated programming of robot trajectories based upon mathematical models of the cask and robot coupled with sensory feedback enables flexible operation of a commercial gantry robot with the reliability needed to perform autonomous operations in a hazardous environment. Complexity is managed using structured software engineering techniques resulting in the generation of reusable command primitives which contribute to a software parts catalog for a generalized robot programming language

  15. Command and Control Software Development

    Science.gov (United States)

    Wallace, Michael

    2018-01-01

    The future of the National Aeronautics and Space Administration (NASA) depends on its innovation and efficiency in the coming years. With ambitious goals to reach Mars and explore the vast universe, correct steps must be taken to ensure our space program reaches its destination safely. The interns in the Exploration Systems and Operations Division at the Kennedy Space Center (KSC) have been tasked with building command line tools to ease the process of managing and testing the data being produced by the ground control systems while its recording system is not in use. While working alongside full-time engineers, we were able to create multiple programs that reduce the cost and time it takes to test the subsystems that launch rockets to outer space.

  16. Human Robotic Systems (HRS): Controlling Robots over Time Delay Element

    Data.gov (United States)

    National Aeronautics and Space Administration — This element involves the development of software that enables easier commanding of a wide range of NASA relevant robots through the Robot Application Programming...

  17. Vision-Based Robot Following Using PID Control

    Directory of Open Access Journals (Sweden)

    Chandra Sekhar Pati

    2017-06-01

    Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.

  18. The Unspoken Consequence of Command, Control Communications Technology: Enhanced Micromanagement by Risk-Averse Commanders

    National Research Council Canada - National Science Library

    Carozza, John

    2004-01-01

    .... However, along with its benefits, this command, control and communications (C3) network includes the dangerous consequence of eroding the autonomy of tactical command through enhanced micromanagement by risk-averse operational commanders...

  19. Spacecraft command and control using expert systems

    Science.gov (United States)

    Norcross, Scott; Grieser, William H.

    1994-01-01

    This paper describes a product called the Intelligent Mission Toolkit (IMT), which was created to meet the changing demands of the spacecraft command and control market. IMT is a command and control system built upon an expert system. Its primary functions are to send commands to the spacecraft and process telemetry data received from the spacecraft. It also controls the ground equipment used to support the system, such as encryption gear, and telemetry front-end equipment. Add-on modules allow IMT to control antennas and antenna interface equipment. The design philosophy for IMT is to utilize available commercial products wherever possible. IMT utilizes Gensym's G2 Real-time Expert System as the core of the system. G2 is responsible for overall system control, spacecraft commanding control, and spacecraft telemetry analysis and display. Other commercial products incorporated into IMT include the SYBASE relational database management system and Loral Test and Integration Systems' System 500 for telemetry front-end processing.

  20. Robot welding process control

    Science.gov (United States)

    Romine, Peter L.

    1991-01-01

    This final report documents the development and installation of software and hardware for Robotic Welding Process Control. Primary emphasis is on serial communications between the CYRO 750 robotic welder, Heurikon minicomputer running Hunter & Ready VRTX, and an IBM PC/AT, for offline programming and control and closed-loop welding control. The requirements for completion of the implementation of the Rocketdyne weld tracking control are discussed. The procedure for downloading programs from the Intergraph, over the network, is discussed. Conclusions are made on the results of this task, and recommendations are made for efficient implementation of communications, weld process control development, and advanced process control procedures using the Heurikon.

  1. Unit Testing for Command and Control Systems

    Science.gov (United States)

    Alexander, Joshua

    2018-01-01

    Unit tests were created to evaluate the functionality of a Data Generation and Publication tool for a command and control system. These unit tests are developed to constantly evaluate the tool and ensure it functions properly as the command and control system grows in size and scope. Unit tests are a crucial part of testing any software project and are especially instrumental in the development of a command and control system. They save resources, time and costs associated with testing, and catch issues before they become increasingly difficult and costly. The unit tests produced for the Data Generation and Publication tool to be used in a command and control system assure the users and stakeholders of its functionality and offer assurances which are vital in the launching of spacecraft safely.

  2. Research on wheelchair robot control system based on EOG

    Science.gov (United States)

    Xu, Wang; Chen, Naijian; Han, Xiangdong; Sun, Jianbo

    2018-04-01

    The paper describes an intelligent wheelchair control system based on EOG. It can help disabled people improve their living ability. The system can acquire EOG signal from the user, detect the number of blink and the direction of glancing, and then send commands to the wheelchair robot via RS-232 to achieve the control of wheelchair robot. Wheelchair robot control system based on EOG is composed of processing EOG signal and human-computer interactive technology, which achieves a purpose of using conscious eye movement to control wheelchair robot.

  3. R4SA for Controlling Robots

    Science.gov (United States)

    Aghazarian, Hrand

    2009-01-01

    The R4SA GUI mentioned in the immediately preceding article is a userfriendly interface for controlling one or more robot(s). This GUI makes it possible to perform meaningful real-time field experiments and research in robotics at an unmatched level of fidelity, within minutes of setup. It provides such powerful graphing modes as that of a digitizing oscilloscope that displays up to 250 variables at rates between 1 and 200 Hz. This GUI can be configured as multiple intuitive interfaces for acquisition of data, command, and control to enable rapid testing of subsystems or an entire robot system while simultaneously performing analysis of data. The R4SA software establishes an intuitive component-based design environment that can be easily reconfigured for any robotic platform by creating or editing setup configuration files. The R4SA GUI enables event-driven and conditional sequencing similar to those of Mars Exploration Rover (MER) operations. It has been certified as part of the MER ground support equipment and, therefore, is allowed to be utilized in conjunction with MER flight hardware. The R4SA GUI could also be adapted to use in embedded computing systems, other than that of the MER, for commanding and real-time analysis of data.

  4. Communication for command and control systems

    CERN Document Server

    Morris, D J

    1983-01-01

    Communication for Command and Control Systems provides a thorough exposition of the basic theoretical and practical features involved in the design of communication networks for command and control systems. This book focuses primarily on the practical side of computer-controlled communication. This text concentrates on the communication sides of the subject by surveying the means of transferring data between the various processing points and by appraising their potential advantages and possible defects in implementation. In this respect, this book should prove useful for the practicing enginee

  5. Command and Control of Joint Air Operations through Mission Command

    Science.gov (United States)

    2016-06-01

    and outlines the C2 architecture systems, processes, and philosophy of com- mand required to enable mission command effectively. Mission Command...General Dempsey highlights the fact that “trust is the moral sinew that binds the distributed Joint Force 2020 together” and observes that “unless...con- fident about how their subordinates will make decisions and adapt to the dynamic battlespace environment. Processes, Systems, and Philosophy of

  6. Integrated mobile robot control

    Science.gov (United States)

    Amidi, Omead; Thorpe, Chuck E.

    1991-03-01

    This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

  7. Robotics for mining control

    Energy Technology Data Exchange (ETDEWEB)

    1986-11-01

    In 1982 surveys of the mining industry revealed no applications of robotics existed and none were planned. This report provides a general overview of automation in the mining industry since this point in time. Roof control electronics, gas monitoring, jumbo drill automation, remote and sensor- controlled continuous miners, automated trolley trucks, roof bolting and screening machines are examples of technology available today. The report concludes with recommendations as to six potential research areas. 25 refs.

  8. Robot Motion and Control 2011

    CERN Document Server

    2012-01-01

    Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...

  9. Interactive robot control system and method of use

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor); Abdallah, Muhammad E. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert (Inventor)

    2012-01-01

    A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

  10. Command-And-Control or Taxation?

    DEFF Research Database (Denmark)

    Oh, Christina; Svendsen, Gert Tinggaard

    2015-01-01

    an ineffective command-and-control (CAC) tool, whereas Denmark has chosen the effective tool of taxation. One main explanation for this variation in policy choice is the variation in institutional setups, namely the corporatist route in Denmark versus the pluralistic route in California....

  11. Commanding and Planning for Robots in Space Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — Autonomous and semi-autonomous systems like unmanned spacecraft or robotic vehicles have filled critical roles in NASA's great successes, surviving the harsh...

  12. Torque Control of Underactuated Tendon-driven Robotic Fingers

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Ihrke, Chris A. (Inventor); Reiland, Matthew J. (Inventor); Wampler, Charles W. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Bridgwater, Lyndon (Inventor)

    2013-01-01

    A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

  13. Monitoring and Controlling an Underwater Robotic Arm

    Science.gov (United States)

    Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

    2009-01-01

    The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

  14. ARAC: A unique command and control resource

    International Nuclear Information System (INIS)

    Bradley, M.M.; Baskett, R.L.; Ellis, J.S.

    1996-04-01

    The Atmospheric Release Advisory Capability (ARAC) at Lawrence Livermore National Laboratory (LLNL) is a centralized federal facility designed to provide real-time, world-wide support to military and civilian command and control centers by predicting the impacts of inadvertent or intentional releases of nuclear, biological, or chemical materials into the atmosphere. ARAC is a complete response system consisting of highly trained and experienced personnel, continually updated computer models, redundant data collection systems, and centralized and remote computer systems. With over 20 years of experience responding to domestic and international incidents, strong linkages with the Department of Defense, and the ability to conduct classified operations, ARAC is a unique command and control resource

  15. ARAC: A unique command and control resource

    Energy Technology Data Exchange (ETDEWEB)

    Bradley, M.M.; Baskett, R.L.; Ellis, J.S. [and others

    1996-04-01

    The Atmospheric Release Advisory Capability (ARAC) at Lawrence Livermore National Laboratory (LLNL) is a centralized federal facility designed to provide real-time, world-wide support to military and civilian command and control centers by predicting the impacts of inadvertent or intentional releases of nuclear, biological, or chemical materials into the atmosphere. ARAC is a complete response system consisting of highly trained and experienced personnel, continually updated computer models, redundant data collection systems, and centralized and remote computer systems. With over 20 years of experience responding to domestic and international incidents, strong linkages with the Department of Defense, and the ability to conduct classified operations, ARAC is a unique command and control resource.

  16. Control of a mobile robot through brain computer interface

    Directory of Open Access Journals (Sweden)

    Robinson Jimenez Moreno

    2015-07-01

    Full Text Available This paper poses a control interface to command the movement of a mobile robot according to signals captured from the user's brain. These signals are acquired and interpreted by Emotiv EPOC device, a 14-electrode type sensor which captures electroencephalographic (EEG signals with high resolution, which, in turn, are sent to a computer for processing. One brain-computer interface (BCI was developed based on the Emotiv software and SDK in order to command the mobile robot from a distance. Functionality tests are performed with the sensor to discriminate shift intentions of a user group, as well as with a fuzzy controller to hold the direction in case of concentration loss. As conclusion, it was possible to obtain an efficient system for robot movements by brain commands.

  17. Design of a hybrid command and control mobile botnet: Presentation

    CSIR Research Space (South Africa)

    Pieterse, H

    2013-03-01

    Full Text Available smartphones controlled by a botmaster through a command and control network to serve a malicious purpose. This study presents the design of a hybrid command and control mobile botnet. It describes the propagation vectors, command and control channels...

  18. Design of a hybrid command and control mobile botnet

    CSIR Research Space (South Africa)

    Pieterse, H

    2013-05-01

    Full Text Available and control mobile botnet. The hybrid design explores the efficiency of multiple command and control channels against the following objectives: no single point of failure within the topology, low cost for command dissemination, limited network activities...

  19. Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules

    Energy Technology Data Exchange (ETDEWEB)

    Al Mouhamed, Mayez

    1982-01-29

    The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [French] Dans la premiere partie de ce memoire, nous exposons les principales methodes de changement de coordonnees pour un systeme articule general. Apres une definition adequate de ce dernier, nous proposons un systeme de coordination permettant une programmation facile des mouvements. Sa caracteristique est de prendre comme centre d'action un point quelconque de l'objet manipule. Dans la deuxieme partie, nous etudions la regulation en effort. Pour cela nous avons developpe un capteur de forces general. Les informations que delivre ce dernier sont utilisees par des regulateurs d'effort adaptes au contexte de l'assemblage automatique des pieces. Dans la troisieme partie, nous exposons une nouvelle methode de commande dynamique des systemes articules. Nous obtenons des parametres dynamiques du robot a partir de mouvements appropries. Ces derniers sont ensuite utilises dans l'elaboration des commandes. Des applications utilisant le microprocesseur INTEL 8086 avec son

  20. Spaceport Command and Control System Automation Testing

    Science.gov (United States)

    Hwang, Andrew

    2017-01-01

    The Spaceport Command and Control System (SCCS) is the National Aeronautics and Space Administrations (NASA) launch control system for the Orion capsule and Space Launch System, the next generation manned rocket currently in development. This large system requires high quality testing that will properly measure the capabilities of the system. Automating the test procedures would save the project time and money. Therefore, the Electrical Engineering Division at Kennedy Space Center (KSC) has recruited interns for the past two years to work alongside full-time engineers to develop these automated tests, as well as innovate upon the current automation process.

  1. Spaceport Command and Control System Automated Testing

    Science.gov (United States)

    Stein, Meriel

    2017-01-01

    The Spaceport Command and Control System (SCCS) is the National Aeronautics and Space Administrations (NASA) launch control system for the Orion capsule and Space Launch System, the next generation manned rocket currently in development. This large system requires high quality testing that will properly measure the capabilities of the system. Automating the test procedures would save the project time and money. Therefore, the Electrical Engineering Division at Kennedy Space Center (KSC) has recruited interns for the past two years to work alongside full-time engineers to develop these automated tests, as well as innovate upon the current automation process.

  2. Tools virtualization for command and control systems

    Science.gov (United States)

    Piszczek, Marek; Maciejewski, Marcin; Pomianek, Mateusz; Szustakowski, Mieczysław

    2017-10-01

    Information management is an inseparable part of the command process. The result is that the person making decisions at the command post interacts with data providing devices in various ways. Tools virtualization process can introduce a number of significant modifications in the design of solutions for management and command. The general idea involves replacing physical devices user interface with their digital representation (so-called Virtual instruments). A more advanced level of the systems "digitalization" is to use the mixed reality environments. In solutions using Augmented reality (AR) customized HMI is displayed to the operator when he approaches to each device. Identification of device is done by image recognition of photo codes. Visualization is achieved by (optical) see-through head mounted display (HMD). Control can be done for example by means of a handheld touch panel. Using the immersive virtual environment, the command center can be digitally reconstructed. Workstation requires only VR system (HMD) and access to information network. Operator can interact with devices in such a way as it would perform in real world (for example with the virtual hands). Because of their procedures (an analysis of central vision, eye tracking) MR systems offers another useful feature of reducing requirements for system data throughput. Due to the fact that at the moment we focus on the single device. Experiments carried out using Moverio BT-200 and SteamVR systems and the results of experimental application testing clearly indicate the ability to create a fully functional information system with the use of mixed reality technology.

  3. Internet remote control interface for a multipurpose robotic arm

    Directory of Open Access Journals (Sweden)

    Matthew W. Dunnigan

    2008-11-01

    Full Text Available This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot ? Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the presence of environmental disturbances. The laboratory has been enriched by a simple vision system consisting of three web-cameras to broadcast the live images of the robots over the Internet. The Interface comprises of the TCP/IP server providing command parsing and execution using the open controller architecture of the manipulator and a client Java applet web-site providing a simple robot control interface.

  4. Applications of artificial intelligence to space station and automated software techniques: High level robot command language

    Science.gov (United States)

    Mckee, James W.

    1989-01-01

    The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.

  5. Graphical programming: On-line robot simulation for telerobotic control

    International Nuclear Information System (INIS)

    McDonald, M.J.; Palmquist, R.D.

    1993-01-01

    Sandia has developed an advanced operational control system approach, caged Graphical Programming, to design and operate robotic waste cleanup and other hazardous duty robotic systems. The Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. The Graphical Programming approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Graphical Programming Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Progranuning Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, and key features necessary for implementing successful Graphical Programming systems

  6. Spaceport Command and Control System Automation Testing

    Science.gov (United States)

    Plano, Tom

    2017-01-01

    The goal of automated testing is to create and maintain a cohesive infrastructure of robust tests that could be run independently on a software package in its entirety. To that end, the Spaceport Command and Control System (SCCS) project at the National Aeronautics and Space Administration's (NASA) Kennedy Space Center (KSC) has brought in a large group of interns to work side-by-side with full time employees to do just this work. Thus, our job is to implement the tests that will put SCCS through its paces.

  7. Soviet command and control in a historical context

    OpenAIRE

    Kern, Jeffrey A.

    1981-01-01

    Approved for public release; distribution is unlimited An examination is made of the historical antecedents of present day command and control doctrine in the Soviet Union. The continuity of principal characteristics is demonstrated. The ideological determinants shaping the command and control system are first developed. These include centralism, collective decision-making, unity of command, and redundancy. Practical consequences of these are explored. The functioning of Soviet command...

  8. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, Jong Min; Kim, Seung Ho; Hwang, Suk Yeoung; Sohn, Surg Won; Kim, Byung Soo; Kim, Chang Hoi; Lee, Yong Bum; Kim, Woong Ki

    1988-12-01

    The object of this project is to develop a multiprocessor system which is essential to robot technology. A multiprocessor system interconnecting many single board computer is much faster and flexible than a single processor. The developed multiprocessor will be used to control nuclear mobile robot, so a loosely coupled system is adopted as a robot controller. A total configuration of controller is divided into three main parts in related with its function. It is consisted of supervisory control part, functional control part, remote control part. The designed control system is to be expanded easily for further use with a modular architecture, so the functional independency within sub-systems can be obtained throughout the system structure. Electromagnetic interference affecting to the control system is minimized by using optical fiber as communication media between robot and control system. System performances is enhanced not only by using distributed architecture in hardware, but by adopting real-time, multi-tasking operating system in software. The iRMX86 OS is used and reconfigured for real-time, multi-tasking operation. RS-485 serial communication protocol is used between functional control part and remote control part. Since the developed multiprocessor control system is an essential and fundamental technology for artificial intelligent robot, the result of this project can be applied directly to nuclear mobile robot. (Author)

  9. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  10. Command Recognition of Robot with Low Dimension Whole-Body Haptic Sensor

    Science.gov (United States)

    Ito, Tatsuya; Tsuji, Toshiaki

    The authors have developed “haptic armor”, a whole-body haptic sensor that has an ability to estimate contact position. Although it is developed for safety assurance of robots in human environment, it can also be used as an interface. This paper proposes a command recognition method based on finger trace information. This paper also discusses some technical issues for improving recognition accuracy of this system.

  11. Visual Recognition and Its Application to Robot Arm Control

    Directory of Open Access Journals (Sweden)

    Jih-Gau Juang

    2015-10-01

    Full Text Available This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized by the robot system, the robot arm performs the corresponding actions to test the smartphone. One of the webcams is utilized to capture commands on the screen of the control panel, the other to recognize the words on the screen of the tested smartphone. The method of image processing is based on the Red-Green-Blue (RGB and Hue-Saturation-Luminance (HSL color spaces to reduce the influence of light. Fuzzy theory is used in the robot arm’s position control. The Optical Character Recognition (OCR technique is applied to the word recognition, and the recognition results are then checked by a dictionary process to increase the recognition accuracy. The camera which is used to recognize the tested smartphone also provides object coordinates to the fuzzy controller, then the robot arm moves to the desired positions and presses the desired buttons. The proposed control scheme allows the robot arm to perform different assigned test functions successfully.

  12. Controlling Underwater Robots with Electronic Nervous Systems

    Directory of Open Access Journals (Sweden)

    Joseph Ayers

    2010-01-01

    Full Text Available We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration electronic neuron (aVLSI networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs based on Hindmarsh–Rose (HR dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

  13. Scale-free Enterprise Command & Control

    National Research Council Canada - National Science Library

    Bayne, Jay; Paul, Raymond

    2005-01-01

    ...) services that provide allied teams of commanders, planners and operations personnel with collaborative, grid-based and realtime situation assessment, plan generation, and plan execution services...

  14. Command and Control for Homeland Security

    National Research Council Canada - National Science Library

    Greene, Marjorie

    2007-01-01

    ... Analysis of the Toronto SARS Outbreak, Vertical Integration, Vertical Integration in a Military Command Hierarchy, Information flows for a domestic incident, C2 for Homeland Security will benefit...

  15. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    of robots subjected to dynamic communication constraints, game theory is used in addition to reinforcement learning. The nodes maintain an extra set of state variables about all the other nodes that they can communicate to. The more important are trust and predictability. They are a way to incorporate knowledge acquired in the past into the control decisions taken by each node. The trust variable provides a simple mechanism for the implementation of reinforcement learning. For robot formations, potential field based control algorithms are used to generate the control commands. The formation structure changes due to the environment and due to the decisions of the nodes. It is a problem of building a graph and coalitions by having distributed decisions but still reaching an optimal behavior globally.

  16. Kinematic equations for resolved-rate control of an industrial robot arm

    Science.gov (United States)

    Barker, L. K.

    1983-01-01

    An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

  17. Human Systems Integration Assessment of Network Centric Command and Control

    National Research Council Canada - National Science Library

    Quashnock, Dee; Kelly, Richard T; Dunaway, John; Smillie, Robert J

    2004-01-01

    .... FORCEnet is the operational construct and architectural framework for Naval Network Centric Warfare in the information age that integrates warriors, sensors, networks, command and control, platforms...

  18. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, John Min; Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Yeong; Lee, Young Bum; Sohn, Suk Won; Kim, Woon Gi

    1990-01-01

    The project of this study is to develop a real time controller applying autonomous robotic systems operated in hostile environment. Developed control system is designed with a multiprocessor to get independency and reliability as well as to extend the system easily. The control system is designed in three distinct subsystems (supervisory control part, functional control part, and remote control part). To review the functional performance of developed controller, a prototype mobile robot, which was installed 4 DOF mainpulator, was designed and manufactured. Initial tests showed that the robot could turn with a radius of 38 cm and a maximum speed of 1.26 km/hr and go over obstacle of 18 cm in height. (author)

  19. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, Jong Min; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Sohn, Surg Won; Yoon, Tae Seob; Lee, Yong Bum; Kim, Woong Ki

    1988-02-01

    A mutiprocessor system that is essential to A.I. (Artificial Intelligence) robot control was developed. A.I. robot control needs very complex real time control. The multiprocessor system interconnecting many SBC's (Single Board Computer) is much faster and accurater than using only one SBC. Various multiprocessor systems and their applications were compared and discussed. The multiprocessor architecture system is specially designed to be used in nuclear environments. The main functions are job distribution, multitasking, and intelligent remote control by SDLC protocol using optical fiber. The system can be applied to position control for locomotion and manipulation, data fusion system, and image processing. (Author)

  20. Teleautonomous Control on Rescue Robot Prototype

    Directory of Open Access Journals (Sweden)

    Son Kuswadi

    2012-12-01

    Full Text Available Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.

  1. Neural-Network Control Of Prosthetic And Robotic Hands

    Science.gov (United States)

    Buckley, Theresa M.

    1991-01-01

    Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

  2. Robot Control Overview: An Industrial Perspective

    Directory of Open Access Journals (Sweden)

    T. Brogårdh

    2009-07-01

    Full Text Available One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, optimization, and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation concepts and new application processes. Model-based control, including kinematics error compensation, optimal servo reference- and feed-forward generation, and servo design, tuning, and scheduling, has meant a breakthrough for the use of robots in industry. Relying on this breakthrough, new automation concepts such as high performance multi robot collaboration and human robot collaboration can be introduced. Robot manufacturers can build robots with more compliant components and mechanical structures without loosing performance and robots can be used also in applications with very high performance requirements, e.g., in assembly, machining, and laser cutting. In the future it is expected that the importance of sensor control will increase, both with respect to sensors in the robot structure to increase the control performance of the robot itself and sensors outside the robot related to the applications and the automation systems. In this connection sensor fusion and learning functionalities will be needed together with the robot control for easy and intuitive installation, programming, and maintenance of industrial robots.

  3. Control of Wall Mounting Robot

    DEFF Research Database (Denmark)

    Sloth, Christoffer; Pedersen, Rasmus

    2017-01-01

    This paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path...

  4. Vision-Based Robot Following Using PID Control

    OpenAIRE

    Chandra Sekhar Pati; Rahul Kala

    2017-01-01

    Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...

  5. Control of automated system with voice commands

    OpenAIRE

    Švara, Denis

    2012-01-01

    In smart houses contemporary achievements in the fields of automation, communications, security and artificial intelligence, increase comfort and improve the quality of user's lifes. For the purpose of this thesis we developed a system for managing a smart house with voice commands via smart phone. We focused at voice commands most. We want move from communication with fingers - touches, to a more natural, human relationship - speech. We developed the entire chain of communication, by which t...

  6. The use of augmented reality in command and control situation ...

    African Journals Online (AJOL)

    This study identifies possible uses of augmented reality in command and control applications with specific attention to situation awareness in the South African context. Applications across the different command and control functions, as well as at the different levels of military operations are considered. The article concludes ...

  7. Controlling Tensegrity Robots Through Evolution

    Science.gov (United States)

    Iscen, Atil; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

    2013-01-01

    Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

  8. Thoughts turned into high-level commands: Proof-of-concept study of a vision-guided robot arm driven by functional MRI (fMRI) signals.

    Science.gov (United States)

    Minati, Ludovico; Nigri, Anna; Rosazza, Cristina; Bruzzone, Maria Grazia

    2012-06-01

    Previous studies have demonstrated the possibility of using functional MRI to control a robot arm through a brain-machine interface by directly coupling haemodynamic activity in the sensory-motor cortex to the position of two axes. Here, we extend this work by implementing interaction at a more abstract level, whereby imagined actions deliver structured commands to a robot arm guided by a machine vision system. Rather than extracting signals from a small number of pre-selected regions, the proposed system adaptively determines at individual level how to map representative brain areas to the input nodes of a classifier network. In this initial study, a median action recognition accuracy of 90% was attained on five volunteers performing a game consisting of collecting randomly positioned coloured pawns and placing them into cups. The "pawn" and "cup" instructions were imparted through four mental imaginery tasks, linked to robot arm actions by a state machine. With the current implementation in MatLab language the median action recognition time was 24.3s and the robot execution time was 17.7s. We demonstrate the notion of combining haemodynamic brain-machine interfacing with computer vision to implement interaction at the level of high-level commands rather than individual movements, which may find application in future fMRI approaches relevant to brain-lesioned patients, and provide source code supporting further work on larger command sets and real-time processing. Copyright © 2012 IPEM. Published by Elsevier Ltd. All rights reserved.

  9. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  10. Multibody system dynamics, robotics and control

    CERN Document Server

    Gerstmayr, Johannes

    2013-01-01

    The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

  11. COMMAND-AND-CONTROL AND MANAGEMENT DECISION MAKING,

    Science.gov (United States)

    Reports that the development of command-and-con trol systems in support of decision making and action taking has been accomplished by military...methods applicable to management systems. Concludes that the command-and-control type system for top management decision making is a man-machine system having as its core an on going, dynamic operation. (Author)

  12. 14 CFR 417.303 - Command control system requirements.

    Science.gov (United States)

    2010-01-01

    ... system must transmit a command signal that has the radio frequency characteristics and power needed for.... (c) Reliability prediction. A command control system must have a predicted reliability of 0.999 at... for each launch. Any demonstration of the system's predicted reliability must satisfy § 417.309(b). (d...

  13. Structured control for autonomous robots

    International Nuclear Information System (INIS)

    Simmons, R.G.

    1994-01-01

    To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

  14. Command and Control in Littoral Operations

    Science.gov (United States)

    2016-05-13

    at the graphics on the wall displaying the position of the various forces under his command. Only a few of his 14 ships were in formation with him...Mainz, 2d MEB Lead Planner (November 11, 2014). Moskowitz, Michael, and Nolan Noble. Dawn Blitz 2015- Observations and Analysis. Exercise

  15. Towards Human-Friendly Efficient Control of Multi-Robot Teams

    Science.gov (United States)

    Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

    2013-01-01

    This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

  16. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot

  17. Controller design for Robotic hand through Electroencephalogram

    OpenAIRE

    Pandelidis P.; Kiriazis N.; Orgianelis K.; Koulios N.

    2016-01-01

    - This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the con...

  18. Command and Control for Distributed Lethality

    Science.gov (United States)

    2017-06-01

    extended communications between the AFP CDR and the CCDR are required. As shown in Figure 20, the principle command relationships are between...frequency (RF) communications are limited by maximum antenna height of each surface platform without an airborne relay. LOS is estimated with an online ...documents the interconnections and relationship of information flow and the system requirements for maintaining the interconnection links during a

  19. A multifunction editor for programming control sequences for a robot based radiopharmaceutical synthesis system

    International Nuclear Information System (INIS)

    Appelquist, G.; Bohm, C.

    1990-01-01

    A Multifunction Editor is a development tool for building control sequences for a robotized production system for positron emitting radiopharmaceuticals. This system consists of SCARA robot and a PC-AT personal computer as a controller together with general and synthesis specific chemistry equipment. The general equipment, which is common for many synthesis, is fixed to the wall of the hotcell, while the specific equipment, dedicated to the given synthesis, is located on a removable tray. The program recognizes commands to move the robot, to control valves and to control the computer screen. From within the editor it is possible to run the control sequence forward or backward to test it and to use the single step feature to debug. The editor commands include insert, replace and delete of commands in the sequence. When programming or editing robot movements the robot may be controlled by the mouse, from the keyboard or from a remote control box. The robot control sequence consists of a succession of stored robot positions. The screen control is used to display dynamic flowchart diagrams. This is achieved by displaying a modified picture on the screen whenever the system state has been changed significantly

  20. Architecting Joint Command and Control System of System Capability Certifications

    National Research Council Canada - National Science Library

    Acosta, Jacob; Hoesly, Scot; Huseth, Scott; Krider, Steven; Lamb, Jeremy; Martin, Calvin; Medina, Vince; Medina, Jorge; Nguyen, Michael; Patel, Jaykant

    2007-01-01

    Command, Control, Communications, Computers, and Intelligence (C4I) systems, each originally designed to address a single warfighting function, have been assembled into an interdependent C4I System of Systems (SoS...

  1. Implementing UPDM to develop command and control systems

    CSIR Research Space (South Africa)

    Oosthuizen, R

    2016-09-01

    Full Text Available Systems engineering is an established approach to develop systems, including complex sociotechnical systems such as Command and Control (C2) Systems. These systems often occur through introduction of a new technology into an existing system...

  2. Command and Control Planning and Teamwork: Exploring the Future

    National Research Council Canada - National Science Library

    Sterling, Bruce S; Lickteig, Carl W

    2000-01-01

    .... This paper examines how participant ratings of command and control planning and observer assessments of teamwork were related in a series of futuristic missions conducted by the Mounted Maneuver...

  3. Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Barajas, Leandro G. (Inventor); Permenter, Frank Noble (Inventor); Strawser, Philip A. (Inventor)

    2015-01-01

    A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

  4. Recommendations on Future Operational Environments Command Control and Cyber Security

    OpenAIRE

    Goztepe, Kerim

    2015-01-01

    It is a well-known fact that today a nation's telecommunication networks, critical infrastructure, and information systems are vulnerable to growing number of attacks in cyberspace. Cyber space contains very different problems involving various sets of threats, targets and costs. Cyber security is not only problem of banking, communication or transportation. It also threatens core systems of army as command control. Some significant recommendations on command control (C2) and cyber security h...

  5. Environmental Licensing: an Instrument of Command and Control by Exception?

    OpenAIRE

    Sleman Chams, Juliette; Gestión Ambiental de la Corporación Autónoma Regional del Atlántico-CRA, autoridad ambiental del Departamento del Atlántico,; Velásquez Muñoz, Carlos Javier; Universidad del Norte (Barranquilla)

    2016-01-01

    This article analyzes the situation of the most important instrument of command and control existing in the Colombian environmental legislation: the environmental license. Since its first formal regulation, on behalf of Decree 1753 of August 3, 1994, has received several modifications which, apparently, have made, in spite of its importance, in an instrument of command and control by exception. The article revises on the scope of each of the modifications and the justifications put forward by...

  6. Scenario design : adaptive architecture for command and control experiment eight

    OpenAIRE

    Clark, Frankie J.

    2002-01-01

    Approved for public release; distribution is unlimited. The Adaptive Architectures for Command and Control (A2C2) project is an ongoing research effort sponsored by the Office of Naval Research to explore adaptation in joint command and control. The objective of the project's eighth experiment is to study the adjustments that organizations make when they are confronted with a scenario for which their organizational is ill-suited. To accomplish this, teams will each be in one of two fundame...

  7. Opinion on the examination of the control-command general architecture of the Flamanville 3 EPR reactor and of its associated platforms

    International Nuclear Information System (INIS)

    2009-06-01

    This report first recalls the different technical and hardware elements and components discussed by the ISRN (Nuclear Radioprotection and Safety Institute) in front of the Expert Permanent Group for nuclear reactors. These elements and components are concerning the control-command architecture as a whole, and the technical ability of networks, computers, and robots. It outlines the main principles which the control-and-command must comply with: compliance of each component of the retained technological solution with the design requirements corresponding to the safety classification, robustness of the whole control-command architecture. Then, it comments and sometimes criticizes the status of the various components of the control-command platforms with respect to this compliance. Eight recommendations are given for the SPPA T2000 control-command platform and for the robustness of the control-command architecture

  8. Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems

    International Nuclear Information System (INIS)

    Al Mouhamed, Mayez

    1982-01-01

    The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [fr

  9. Modèle exploitable pour la définition de la commande du robot

    OpenAIRE

    ZIMMER-CHEVRET, Sandra; LANGLOIS, Laurent; BEN ATTAR, Amarilys

    2014-01-01

    Ce document traite de la modélisation des actions mécaniques entre l’outil et la matière. L’objectif est de définir un modèle exploitable pour la définition de la commande du robot. Dans un premier temps, le rapport présente une synthèse bibliographique des modèles des interactions mécaniques développés à ce jour. Pour un modèle choisi, les paramètres constituant ce dernier ont été calculés à partir de données expérimentales. Puis, la validité du modèle a été étudiée. Pour une même configurat...

  10. Snake Robots Modelling, Mechatronics, and Control

    CERN Document Server

    Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy

    2013-01-01

    Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is de...

  11. Controller Design Of Unicycle Mobile Robot

    Directory of Open Access Journals (Sweden)

    Mohd Zamzuri Abd Rashid

    2012-10-01

    Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

  12. Developing and modeling of voice control system for prosthetic robot arm in medical systems

    Directory of Open Access Journals (Sweden)

    Koksal Gundogdu

    2018-04-01

    Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

  13. Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

    Science.gov (United States)

    Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

    2017-01-01

    Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

  14. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

    Full Text Available Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a prototyping robot, which provides facilities for attaching and fitting different kinds of sensors and actuators. This robot provides an easy way to turn a general purpose robot into a special function one.

  15. The development of radiation hardened robot for nuclear facility - Development of embedded controller for hydraulic robot

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung Kook; Kim, Jae Kwon [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    2000-04-01

    We designed and implemented a reliable hierarchical control system for hydraulic robots for nuclear power plant maintenance. In hazardous environments such as nuclear power plants, robot systems or automated equipment should be used instead of human being for maintenance and repair. Such robot should guarantee high reliability in hazardous environments such as high radiation or high temperature. The overall system is composed of three hierarchical subsystems: i) supervisory controller in safe zone for operator interaction with monitoring and commanding and graphic user interface, ii) master controller in semi-hazardous zone for control function, and iii) slave controller in hazardous zone for sensing and actuation. These subsystems are connected with suitable communication channels: a) master-slave communication channel implemented with CAN (Control Area Network) and b) supervisory-master communication with Ethernet. The master and the slave controllers construct a feedback closed-loop control system. In order to improve reliability, the slave controller is duplicated using cold-standby scheme, and master-slave communication channel is also duplicated. The overall system is implemented harmonically, and we obtained fast control interval of 1msec, which is sufficient for high-performance real-time control. 12 refs., 58 figs., 13 tabs. (Author)

  16. [Network Design of the Spaceport Command and Control System

    Science.gov (United States)

    Teijeiro, Antonio

    2017-01-01

    I helped the Launch Control System (LCS) hardware team sustain the network design of the Spaceport Command and Control System. I wrote the procedure that will be used to satisfy an official hardware test for the hardware carrying data from the Launch Vehicle. I installed hardware and updated design documents in support of the ongoing development of the Spaceport Command and Control System and applied firewall experience I gained during my spring 2017 semester to inspect and create firewall security policies as requested. Finally, I completed several online courses concerning networking fundamentals and Unix operating systems.

  17. Robot motion control in mobile environment

    Institute of Scientific and Technical Information of China (English)

    Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

    2003-01-01

    With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

  18. Centralized Command and Control of Theater Missile Defense: The Joint Force Missile Defense Component Coordinator

    National Research Council Canada - National Science Library

    Bucey, William H

    2006-01-01

    .... The numerous commands, decentralized command and control, and limited and expensive resources involved in TMD require changes to the joint doctrine in order to provide unity of command and economy of force...

  19. Fuzzy Control of Robotic Arm

    Science.gov (United States)

    Lin, Kyaw Kyaw; Soe, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    This research work investigates a Self-Tuning Proportional Derivative (PD) type Fuzzy Logic Controller (STPDFLC) for a two link robot system. The proposed scheme adjusts on-line the output Scaling Factor (SF) by fuzzy rules according to the current trend of the robot. The rule base for tuning the output scaling factor is defined on the error (e) and change in error (de). The scheme is also based on the fact that the controller always tries to manipulate the process input. The rules are in the familiar if-then format. All membership functions for controller inputs (e and de) and controller output (UN) are defined on the common interval [-1,1]; whereas the membership functions for the gain updating factor (α) is defined on [0,1]. There are various methods to calculate the crisp output of the system. Center of Gravity (COG) method is used in this application due to better results it gives. Performances of the proposed STPDFLC are compared with those of their corresponding PD-type conventional Fuzzy Logic Controller (PDFLC). The proposed scheme shows a remarkably improved performance over its conventional counterpart especially under parameters variation (payload). The two-link results of analysis are simulated. These simulation results are illustrated by using MATLAB® programming.

  20. Fuzzy Behaviors for Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Saleh Zein-Sabatto

    2003-02-01

    Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

  1. Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

    Science.gov (United States)

    Barker, L. K.; Houck, J. A.; Carzoo, S. W.

    1984-01-01

    An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

  2. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  3. Command and Control during Security Incidents/Emergencies

    Energy Technology Data Exchange (ETDEWEB)

    Knipper, W. [NSTec

    2013-10-16

    This presentation builds on our response to events that pose, or have the potential to pose, a serious security or law enforcement risk and must be responded to and controlled in a clear a decisive fashion. We will examine some common concepts in the command and control of security-centric events.

  4. Automatic control system generation for robot design validation

    Science.gov (United States)

    Bacon, James A. (Inventor); English, James D. (Inventor)

    2012-01-01

    The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

  5. Kinematics Control and Analysis of Industrial Robot

    Science.gov (United States)

    Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

    2018-03-01

    The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

  6. Control algorithms for autonomous robot navigation

    International Nuclear Information System (INIS)

    Jorgensen, C.C.

    1985-01-01

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

  7. Modelling and Control of a Mobile Robot

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg

    1998-01-01

    In order to control a mobile robot, kinematic odels as well as dynamic models are required. This parer describes these basic models for an experimental mobile robot under construction at the Department of Control and Engineering Design. A description of a set of trajectory control rules is given...

  8. Radio Controlled Fish Robot RR-9

    OpenAIRE

    Cifanskis, S; Vība, J; Jakuševičs, V

    2015-01-01

    A remote-controlled underwater robot fish is described. For motion control three actuator drives are used: one actuator is for tail frequency exchange, the second actuator is for the left or right turnings and the third actuator provides neutral swimming or up and down diving. From the robot's center of mass motion theorem (according to the given total mass of robot) the proportional distribution of massesof structural elements is found. Experimental indoor and out...

  9. Positional control of space robot manipulator

    Science.gov (United States)

    Kurochkin, Vladislav; Shymanchuk, Dzmitry

    2018-05-01

    In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

  10. Controller design for Robotic hand through Electroencephalogram

    Directory of Open Access Journals (Sweden)

    Pandelidis P.

    2016-01-01

    Full Text Available - This paper deals with the designing, the construction and the control of a robotic hand via an electroencephalogram sensor. First a robotic device that is able to mimic a real human hand is constructed. A PID controller is designed in order to improve the performance of the robotic arm for grabbing objects. Furthermore, a novel design approach is presented for controlling the motion of the robotic arm using signals produced from an innovative electroencephalogram sensor that detects the concentration of the brain

  11. Indonesian Automatic Speech Recognition For Command Speech Controller Multimedia Player

    Directory of Open Access Journals (Sweden)

    Vivien Arief Wardhany

    2014-12-01

    Full Text Available The purpose of multimedia devices development is controlling through voice. Nowdays voice that can be recognized only in English. To overcome the issue, then recognition using Indonesian language model and accousticc model and dictionary. Automatic Speech Recognizier is build using engine CMU Sphinx with modified english language to Indonesian Language database and XBMC used as the multimedia player. The experiment is using 10 volunteers testing items based on 7 commands. The volunteers is classifiedd by the genders, 5 Male & 5 female. 10 samples is taken in each command, continue with each volunteer perform 10 testing command. Each volunteer also have to try all 7 command that already provided. Based on percentage clarification table, the word “Kanan” had the most recognize with percentage 83% while “pilih” is the lowest one. The word which had the most wrong clarification is “kembali” with percentagee 67%, while the word “kanan” is the lowest one. From the result of Recognition Rate by male there are several command such as “Kembali”, “Utama”, “Atas “ and “Bawah” has the low Recognition Rate. Especially for “kembali” cannot be recognized as the command in the female voices but in male voice that command has 4% of RR this is because the command doesn’t have similar word in english near to “kembali” so the system unrecognize the command. Also for the command “Pilih” using the female voice has 80% of RR but for the male voice has only 4% of RR. This problem is mostly because of the different voice characteristic between adult male and female which male has lower voice frequencies (from 85 to 180 Hz than woman (165 to 255 Hz.The result of the experiment showed that each man had different number of recognition rate caused by the difference tone, pronunciation, and speed of speech. For further work needs to be done in order to improving the accouracy of the Indonesian Automatic Speech Recognition system

  12. Remodeling Air Force Cyber Command and Control

    Science.gov (United States)

    2017-10-10

    Internet, telecommunications networks, computer systems , and embedded processors and controllers .” That last phrase includes processors and controllers ...embedded” into weapons systems , including aircraft and spacecraft. Many weapon systems were built and connected before cyberspace became a...problems for systemic improvement of mission assurance. The benefit of a centralized environment could also extend to improving enterprise-level patch

  13. Workspace Safe Operation of a Force- or Impedance-Controlled Robot

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Yamokoski, John D. (Inventor); Strawser, Philip A. (Inventor)

    2013-01-01

    A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

  14. Robust high-performance control for robotic manipulators

    Science.gov (United States)

    Seraji, Homayoun (Inventor)

    1991-01-01

    Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

  15. A Combination of Machine Learning and Cerebellar Models for the Motor Control and Learning of a Modular Robot

    DEFF Research Database (Denmark)

    Baira Ojeda, Ismael; Tolu, Silvia; Pacheco, Moises

    2017-01-01

    We scaled up a bio-inspired control architecture for the motor control and motor learning of a real modular robot. In our approach, the Locally Weighted Projection Regression algorithm (LWPR) and a cerebellar microcircuit coexist, forming a Unit Learning Machine. The LWPR optimizes the input space...... and learns the internal model of a single robot module to command the robot to follow a desired trajectory with its end-effector. The cerebellar microcircuit refines the LWPR output delivering corrective commands. We contrasted distinct cerebellar circuits including analytical models and spiking models...

  16. Gesture-Based Robot Control with Variable Autonomy from the JPL Biosleeve

    Science.gov (United States)

    Wolf, Michael T.; Assad, Christopher; Vernacchia, Matthew T.; Fromm, Joshua; Jethani, Henna L.

    2013-01-01

    This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user's hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve's accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot's perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human-robot spatial relationship and does not encumber the user's hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands.

  17. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real...

  18. Command and Control Across Space and Cyberspace Domains

    Science.gov (United States)

    2016-02-16

    debilitating impact on security, national economic security, national public health or safety, or any combination of those matters.”16).17 From Joint...Third, push control (if not command) to the theater or operational level. Returning to the inbound ICBM scenario proposed by Maj Gen Zabel and detailed

  19. Computer-assisted command and control for Chooz B

    International Nuclear Information System (INIS)

    Anon.

    1995-01-01

    A new type of command and control system has been installed at the Chooz B nuclear power plant. A key feature of the system is a man/machine interface designed to provide operators with on-screen assistance more quickly than ever. (Author)

  20. Control of multiple robots using vision sensors

    CERN Document Server

    Aranda, Miguel; Sagüés, Carlos

    2017-01-01

    This monograph introduces novel methods for the control and navigation of mobile robots using multiple-1-d-view models obtained from omni-directional cameras. This approach overcomes field-of-view and robustness limitations, simultaneously enhancing accuracy and simplifying application on real platforms. The authors also address coordinated motion tasks for multiple robots, exploring different system architectures, particularly the use of multiple aerial cameras in driving robot formations on the ground. Again, this has benefits of simplicity, scalability and flexibility. Coverage includes details of: a method for visual robot homing based on a memory of omni-directional images a novel vision-based pose stabilization methodology for non-holonomic ground robots based on sinusoidal-varying control inputs an algorithm to recover a generic motion between two 1-d views and which does not require a third view a novel multi-robot setup where multiple camera-carrying unmanned aerial vehicles are used to observe and c...

  1. Modelling of command and control agility

    CSIR Research Space (South Africa)

    Oosthuizen, R

    2014-06-01

    Full Text Available . Therefore, the stock of information decays over time. Situation Awareness is developed through processing and interpretation of information. This leads to decisions on action to be taken by own forces in reaction to incidents. The understanding..., collective dynamics, and adaptation (Cil & Mala 2010, Beyerchen 1992, Clausewitz 1976). The C2 system support designing courses of action through problem solving within a military context as well as controlling their execution. The purpose of C2, as a force...

  2. Haptic Control with a Robotic Gripper

    OpenAIRE

    Rody, Morgan

    2011-01-01

    The Novint Falcon is a low cost, 3-axis, haptic device primarily designed and built for the gaming industry. Meant to replace the conventional mouse, the Novint Falcon has sub- millimeter accuracy and is capable of real time updates. The device itself has the potential to be used in telerobotics applications when coupled with a robotic gripper for example. Recently, the Intelligent Control Lab at Örebro University in Sweden built such a robotic gripper. The robotic gripper has three fingers a...

  3. Controlling the autonomy of a reconnaissance robot

    Science.gov (United States)

    Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

    2004-09-01

    In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

  4. NPP control command: Considerations for the future

    International Nuclear Information System (INIS)

    Trapp, J.P.

    1998-01-01

    Recent years have seen considerable improvements in the performance available from instrumentation, computerized data acquisition and processing systems, signal processing and related display processing systems. This progress implies the need for a complete rethink of the approach to future surveillance, control and protection systems for use with nuclear reactors, especially regarding new reactor systems. These new systems will in the future need to ensure full compatibility between safety improvements and the enhanced economic competitively of nuclear power. This paper presents an exercise covering the main functions that can as of now be considered for future applications in this field. (author)

  5. Discrete event command and control for networked teams with multiple missions

    Science.gov (United States)

    Lewis, Frank L.; Hudas, Greg R.; Pang, Chee Khiang; Middleton, Matthew B.; McMurrough, Christopher

    2009-05-01

    During mission execution in military applications, the TRADOC Pamphlet 525-66 Battle Command and Battle Space Awareness capabilities prescribe expectations that networked teams will perform in a reliable manner under changing mission requirements, varying resource availability and reliability, and resource faults. In this paper, a Command and Control (C2) structure is presented that allows for computer-aided execution of the networked team decision-making process, control of force resources, shared resource dispatching, and adaptability to change based on battlefield conditions. A mathematically justified networked computing environment is provided called the Discrete Event Control (DEC) Framework. DEC has the ability to provide the logical connectivity among all team participants including mission planners, field commanders, war-fighters, and robotic platforms. The proposed data management tools are developed and demonstrated on a simulation study and an implementation on a distributed wireless sensor network. The results show that the tasks of multiple missions are correctly sequenced in real-time, and that shared resources are suitably assigned to competing tasks under dynamically changing conditions without conflicts and bottlenecks.

  6. Command and Control Software Development Memory Management

    Science.gov (United States)

    Joseph, Austin Pope

    2017-01-01

    This internship was initially meant to cover the implementation of unit test automation for a NASA ground control project. As is often the case with large development projects, the scope and breadth of the internship changed. Instead, the internship focused on finding and correcting memory leaks and errors as reported by a COTS software product meant to track such issues. Memory leaks come in many different flavors and some of them are more benign than others. On the extreme end a program might be dynamically allocating memory and not correctly deallocating it when it is no longer in use. This is called a direct memory leak and in the worst case can use all the available memory and crash the program. If the leaks are small they may simply slow the program down which, in a safety critical system (a system for which a failure or design error can cause a risk to human life), is still unacceptable. The ground control system is managed in smaller sub-teams, referred to as CSCIs. The CSCI that this internship focused on is responsible for monitoring the health and status of the system. This team's software had several methods/modules that were leaking significant amounts of memory. Since most of the code in this system is safety-critical, correcting memory leaks is a necessity.

  7. Cognitive Systems Modeling and Analysis of Command and Control Systems

    Science.gov (United States)

    Norlander, Arne

    2012-01-01

    Military operations, counter-terrorism operations and emergency response often oblige operators and commanders to operate within distributed organizations and systems for safe and effective mission accomplishment. Tactical commanders and operators frequently encounter violent threats and critical demands on cognitive capacity and reaction time. In the future they will make decisions in situations where operational and system characteristics are highly dynamic and non-linear, i.e. minor events, decisions or actions may have serious and irreversible consequences for the entire mission. Commanders and other decision makers must manage true real time properties at all levels; individual operators, stand-alone technical systems, higher-order integrated human-machine systems and joint operations forces alike. Coping with these conditions in performance assessment, system development and operational testing is a challenge for both practitioners and researchers. This paper reports on research from which the results led to a breakthrough: An integrated approach to information-centered systems analysis to support future command and control systems research development. This approach integrates several areas of research into a coherent framework, Action Control Theory (ACT). It comprises measurement techniques and methodological advances that facilitate a more accurate and deeper understanding of the operational environment, its agents, actors and effectors, generating new and updated models. This in turn generates theoretical advances. Some good examples of successful approaches are found in the research areas of cognitive systems engineering, systems theory, and psychophysiology, and in the fields of dynamic, distributed decision making and naturalistic decision making.

  8. Tutorial Workshop on Robotics and Robot Control.

    Science.gov (United States)

    1982-10-26

    unconditional shifts can be defined as increments in the four coordinate systems described above: i8 ugT - (AJtp ia, J.u) where all components nt...Manipulators," Mechanism and Machine Theory , Pergamon Press, �, Vol. 12, pp. 515-530. D.E. Whitney, "Force Feedback Control of Manipulator Fine Motions

  9. Command and Control in a Joint Operational Environment: The Hybrid Control Maxim

    National Research Council Canada - National Science Library

    Becker, Mark

    2000-01-01

    Will the technology of netcentricity affect the organizational structure of joint military organizations such that the organizational hierarchy becomes flattened and the command, control, coordination...

  10. Adaptive Control Methods for Soft Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — I propose to develop methods for soft and inflatable robots that will allow the control system to adapt and change control parameters based on changing conditions...

  11. Modeling and identification for robot motion control

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Kurfess, T.R.

    2004-01-01

    This chapter deals with the problems of robot modelling and identification for high-performance model-based motion control. A derivation of robot kinematic and dynamic models was explained. Modelling of friction effects was also discussed. Use of a writing task to establish correctness of the models

  12. Using LTE Networks for UAV Command and Control Link

    DEFF Research Database (Denmark)

    Nguyen, Huan Cong; Amorim, Rafhael Medeiros de; Wigard, Jeroen

    2017-01-01

    In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss on the hei......In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss...... on the height of the UAV, which is derived from actual measurements, and a real-world cellular network layout and configuration. The results indicate that interference is the dominant factor limiting the cellular coverage for UAVs in the downlink: outage level increases from 4.2% at 1.5 m height to 51.7% at 120...

  13. Rapid Response Command and Control (R2C2): a systems engineering analysis of scaleable communications for Regional Combatant Commanders

    OpenAIRE

    Sullivan, Lisa; Cannon, Lennard; Reyes, Ronel; Bae, Kitan; Colgary, James; Minerowicz, Nick; Leong, Chris; Lim, Harry; Lim, Hang Sheng; Ng, Chin Chin; Neo, Tiong Tien; Tan, Guan Chye; Ng, Yu Loon; Wong, Eric; Wong, Heng Yue

    2006-01-01

    Includes supplementary material. Disaster relief operations, such as the 2005 Tsunami and Hurricane Katrina, and wartime operations, such as Operation Enduring Freedom and Operation Iraqi Freedom, have identified the need for a standardized command and control system interoperable among Joint, Coalition, and Interagency entities. The Systems Engineering Analysis Cohort 9 (SEA-9) Rapid Response Command and Control (R2C2) integrated project team completed a systems engineering (SE) ...

  14. Robot-Arm Dynamic Control by Computer

    Science.gov (United States)

    Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

    1987-01-01

    Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

  15. Spaceport Command and Control System User Interface Testing

    Science.gov (United States)

    Huesman, Jacob

    2016-01-01

    The Spaceport Command and Control System will be the National Aeronautics and Space Administration's newest system for launching commercial and government owned spacecraft. It's a large system with many parts all in need of testing. To improve upon testing already done by NASA engineers, the Engineering Directorate, Electrical Division (NE-E) of Kennedy Space Center has hired a group of interns each of the last few semesters to develop novel ways of improving the testing process.

  16. Unified Medical Command and Control in the Department of Defense

    Science.gov (United States)

    2012-03-22

    This is the Joint Task Force – Capital Medical (JTF CAPMED ) model, in which organizations, resources, and personnel are aligned under a single...This was demonstrated in the formation of the JTF- CAPMED , designed as a 3-star level command controlling military medical activities in the National...used ground vehicles, helicopters and fixed wing aircraft for strategic casualty evacuation (CASEVAC). Enroute care is standard and critical in

  17. Fuzzy Logic Controller Design for Intelligent Robots

    Directory of Open Access Journals (Sweden)

    Ching-Han Chen

    2017-01-01

    Full Text Available This paper presents a fuzzy logic controller by which a robot can imitate biological behaviors such as avoiding obstacles or following walls. The proposed structure is implemented by integrating multiple ultrasonic sensors into a robot to collect data from a real-world environment. The decisions that govern the robot’s behavior and autopilot navigation are driven by a field programmable gate array- (FPGA- based fuzzy logic controller. The validity of the proposed controller was demonstrated by simulating three real-world scenarios to test the bionic behavior of a custom-built robot. The results revealed satisfactorily intelligent performance of the proposed fuzzy logic controller. The controller enabled the robot to demonstrate intelligent behaviors in complex environments. Furthermore, the robot’s bionic functions satisfied its design objectives.

  18. American Joint Helicopter Command: Addressing a Lack of Operational Control of Rotary Assets

    National Research Council Canada - National Science Library

    Marsowicz, Brandon

    2007-01-01

    ... to achieve unity of effort. Based on the tenets of operational command and control by Milan Vego, across all services, the United States helicopter forces fare lacking operational command and control...

  19. 106-17 Telemetry Standards Recorder and Reproducer Command and Control Chapter 6

    Science.gov (United States)

    2017-07-01

    block identifiers (any ASCII text , one identifier per line) from the drive. A .BBLIST command is only valid following a declassify command. The type ... Processor Device Using IEEE 1394b ..... 6-49 6.5.6 Additional Mandatory Commands When Using Ethernet ........................... 6-54 6.5.7 Additional Non...state or magnetic disk). Not all commands (CLI or discrete) may be applicable to all types of R/R implementations. Commands are used to a) control the

  20. Maximizing Function through Intelligent Robot Actuator Control

    Data.gov (United States)

    National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

  1. Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

    Science.gov (United States)

    Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

    2013-08-01

    Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

  2. Decentralized neural control application to robotics

    CERN Document Server

    Garcia-Hernandez, Ramon; Sanchez, Edgar N; Alanis, Alma y; Ruz-Hernandez, Jose A

    2017-01-01

    This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural i...

  3. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    Science.gov (United States)

    2015-09-01

    Palmer, “Development of a navigation system for semi-autonomous operation of wheelchairs,” in Proc. of the 8th IEEE/ASME Int. Conf. on Mechatronic ...and Embedded Systems and Applications, Suzhou, China, 2012, pp. 257-262. [30] G. Grisetti, C. Stachniss, and W. Burgard, “Improving grid-based SLAM...OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples

  4. Electronic Control System Of Home Appliances Using Speech Command Words

    Directory of Open Access Journals (Sweden)

    Aye Min Soe

    2015-06-01

    Full Text Available Abstract The main idea of this paper is to develop a speech recognition system. By using this system smart home appliances are controlled by spoken words. The spoken words chosen for recognition are Fan On Fan Off Light On Light Off TV On and TV Off. The input of the system takes speech signals to control home appliances. The proposed system has two main parts speech recognition and smart home appliances electronic control system. Speech recognition is implemented in MATLAB environment. In this process it contains two main modules feature extraction and feature matching. Mel Frequency Cepstral Coefficients MFCC is used for feature extraction. Vector Quantization VQ approach using clustering algorithm is applied for feature matching. In electrical home appliances control system RF module is used to carry command signal from PC to microcontroller wirelessly. Microcontroller is connected to driver circuit for relay and motor. The input commands are recognized very well. The system is a good performance to control home appliances by spoken words.

  5. Dynamic analysis of space robot remote control system

    Science.gov (United States)

    Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

    2018-05-01

    The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

  6. India's nuclear command and control: perspectives from organisation theory

    International Nuclear Information System (INIS)

    Sasikumar, Shanmugasundaram

    2010-01-01

    Command and control of nuclear weapons was the edifice upon which great power nuclear strategy was based. Empirical Cold War research later proved that this edifice was, in fact, only a power keg. Therefore, US non-proliferation-minded analysts propounded logical reasons for their claim that new nuclear nations will be unable to demonstrate prudence in nuclear weapons management. The unique Indian case, pronounced from the organisation theory perspective, proves to the contrary. India's nuclear organisation is not a static entity; its unique strategic culture together with a political standard operating procedure for nuclear weapons management reduces the exaggerated possibility of any catastrophe. (author)

  7. Remotely controlling of mobile robots using gesture captured by the Kinect and recognized by machine learning method

    Science.gov (United States)

    Hsu, Roy CHaoming; Jian, Jhih-Wei; Lin, Chih-Chuan; Lai, Chien-Hung; Liu, Cheng-Ting

    2013-01-01

    The main purpose of this paper is to use machine learning method and Kinect and its body sensation technology to design a simple, convenient, yet effective robot remote control system. In this study, a Kinect sensor is used to capture the human body skeleton with depth information, and a gesture training and identification method is designed using the back propagation neural network to remotely command a mobile robot for certain actions via the Bluetooth. The experimental results show that the designed mobile robots remote control system can achieve, on an average, more than 96% of accurate identification of 7 types of gestures and can effectively control a real e-puck robot for the designed commands.

  8. Siroco, a configurable robot control system

    International Nuclear Information System (INIS)

    Tejedor, B.G.; Maraggi, G.J.B.

    1988-01-01

    The SIROCO (Configurable Robot Control System) is an electronic system designed to work in applications where mechanized remote control equipment and robots are necessary especially in Nuclear Power Plants. The structure of the system (hardware and software) determines the following user characteristics: a) Reduction in the time spent in NDT and in radiation doses absorbed, due to remote control operation; b) possibility for full automation in NDT, c) the system can simultaneously control up to six axes and can generate movements in remote areas; and d) possibility for equipment unification, due to SIROCO being a configurable system. (author)

  9. Control of walking robots using virtual springs

    NARCIS (Netherlands)

    van Oort, Gijs; Stramigioli, Stefano; Gevers, M.; Sepulchre, R.

    2009-01-01

    At the Control Engineering group of the University of Twente, we are conducting research on control of bipedal robots. In our search for robust and energy efficient control, we are making extensive use of simulation. In order to facil- itate the development of algorithms, we want to design con-

  10. CONTROL PREDICTIVO DE UN ROBOT TIPO SCARA PREDICTIVE CONTROL OF A SCARA ROBOT

    Directory of Open Access Journals (Sweden)

    Oscar Andrés Vivas Albán

    2006-08-01

    Full Text Available Este artículo presenta una aplicación eficiente de un control por modelo de referencia sobre un robot de tipo SCARA. El control estudiado es un control predictivo funcional, el que hace uso de un modelo dinámico simplificado del robot. Los ensayos simulados se realizan sobre un robot de cuatro grados de libertad, tipo SCARA. Con el fin de comparar diferentes estrategias de control, se diseña un controlador clásico tipo PID y dos controladores basados en el modelo de referencia. En este último caso el sistema se linealiza y se desacoplada por realimentación, lo que transforma el sistema a controlar en un simple par de integradores. Al sistema lineal y desacoplado resultante se le aplica el control por par calculado y el control predictivo funcional. Los tres controladores estudiados se simulan sobre el robot SCARA con valores numéricos reales. Las pruebas permiten valorar las respuestas de estos controladores en seguimiento de trayectoria, rechazo de perturbaciones y presencia de errores en el modelado con consignas complejas similares a las utilizadas en procesos de fabricación.This paper describes an efficient approach for model based control, applied on a SCARA robot. The studied control is the predictive functional control which uses a simplified dynamical model of the robot. The simulated tests are made on a SCARA type robot, with four DOF. To compare several control strategies, a classical PID control and two model based controllers are designed. In the last case, the model is first linearized and decoupled by feedback, transforming the system into a double set of integrators. Computed torque control and predictive functional control are applied to the linear and decoupled system. The three studied controllers are simulated on the SCARA robot with real numerical values. Tracking performance, disturbance rejection and model robot mismatch are enlightened, using complex machining tasks trajectories and error presence in the modelling

  11. Hand Motion-Based Remote Control Interface with Vibrotactile Feedback for Home Robots

    Directory of Open Access Journals (Sweden)

    Juan Wu

    2013-06-01

    Full Text Available This paper presents the design and implementation of a hand-held interface system for the locomotion control of home robots. A handheld controller is proposed to implement hand motion recognition and hand motion-based robot control. The handheld controller can provide a ‘connect-and-play’ service for the users to control the home robot with visual and vibrotactile feedback. Six natural hand gestures are defined for navigating the home robots. A three-axis accelerometer is used to detect the hand motions of the user. The recorded acceleration data are analysed and classified to corresponding control commands according to their characteristic curves. A vibration motor is used to provide vibrotactile feedback to the user when an improper operation is performed. The performances of the proposed hand motion-based interface and the traditional keyboard and mouse interface have been compared in robot navigation experiments. The experimental results of home robot navigation show that the success rate of the handheld controller is 13.33% higher than the PC based controller. The precision of the handheld controller is 15.4% more than that of the PC and the execution time is 24.7% less than the PC based controller. This means that the proposed hand motion-based interface is more efficient and flexible.

  12. A neural command circuit for grooming movement control.

    Science.gov (United States)

    Hampel, Stefanie; Franconville, Romain; Simpson, Julie H; Seeds, Andrew M

    2015-09-07

    Animals perform many stereotyped movements, but how nervous systems are organized for controlling specific movements remains unclear. Here we use anatomical, optogenetic, behavioral, and physiological techniques to identify a circuit in Drosophila melanogaster that can elicit stereotyped leg movements that groom the antennae. Mechanosensory chordotonal neurons detect displacements of the antennae and excite three different classes of functionally connected interneurons, which include two classes of brain interneurons and different parallel descending neurons. This multilayered circuit is organized such that neurons within each layer are sufficient to specifically elicit antennal grooming. However, we find differences in the durations of antennal grooming elicited by neurons in the different layers, suggesting that the circuit is organized to both command antennal grooming and control its duration. As similar features underlie stimulus-induced movements in other animals, we infer the possibility of a common circuit organization for movement control that can be dissected in Drosophila.

  13. A Modular Approach to Redundant Robot Control

    International Nuclear Information System (INIS)

    Anderson, R.J.

    1997-12-01

    This paper describes a modular approach for computing redundant robot kinematics. First some conventional redundant control methods are presented and shown to be 'passive control laws', i.e. they can be represented by a network consisting of passive elements. These networks are then put into modular form by applying scattering operator techniques. Additional subnetwork modules can then be added to further shape the motion. Modules for obstacle detection, joint limit avoidance, proximity sensing, and for imposing nonlinear velocity constraints are presented. The resulting redundant robot control system is modular, flexible and robust

  14. Study and realisation of cabled interfaces for the control and command of the Saturne cyclotron

    International Nuclear Information System (INIS)

    Devailly, Jean

    1975-01-01

    This research thesis addressed the assessment of needs, design and realisation of some hardware used by the Saturne cyclotron to solve problems of command and control while using connections developed for the Saturne's computer. After some generalities (description of Saturne, requirements and constraints, general statements about acquisitions and commands, selection of the acquisition and command system, codes), the author presents the different hardware for analog acquisitions, digital acquisitions, analog commands, digital commands, all-or-none control, simulators, amplifiers and memories. He reports some examples: magnetic measurements, control of ejection currents, programs. He finally presents the developed hardware

  15. Multi-Robot Planetary Exploration Command and Control, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Aurora Flight Sciences, The MIT Manned Vehicle Laboratory (MVL), and the MIT Humans and Automation Laboratory (HAL) together propose to adapt existing software,...

  16. Control of complex physically simulated robot groups

    Science.gov (United States)

    Brogan, David C.

    2001-10-01

    Actuated systems such as robots take many forms and sizes but each requires solving the difficult task of utilizing available control inputs to accomplish desired system performance. Coordinated groups of robots provide the opportunity to accomplish more complex tasks, to adapt to changing environmental conditions, and to survive individual failures. Similarly, groups of simulated robots, represented as graphical characters, can test the design of experimental scenarios and provide autonomous interactive counterparts for video games. The complexity of writing control algorithms for these groups currently hinders their use. A combination of biologically inspired heuristics, search strategies, and optimization techniques serve to reduce the complexity of controlling these real and simulated characters and to provide computationally feasible solutions.

  17. Brain Computer Interface for Micro-controller Driven Robot Based on Emotiv Sensors

    OpenAIRE

    Parth Gargava; Krishna Asawa

    2017-01-01

    A Brain Computer Interface (BCI) is developed to navigate a micro-controller based robot using Emotiv sensors. The BCI system has a pipeline of 5 stages- signal acquisition, pre-processing, feature extraction, classification and CUDA inter- facing. It shall aid in serving a prototype for physical movement of neurological patients who are unable to control or operate on their muscular movements. All stages of the pipeline are designed to process bodily actions like eye blinks to command naviga...

  18. Control synchronization of differential mobile robots

    NARCIS (Netherlands)

    Nijmeijer, H.; Rodriguez Angeles, A.; Allgoewer, F.

    2004-01-01

    In this paper a synchronization controller for differential mobile robots is proposed. The synchronization goal is to control the angular position of each wheel to a desired trajectory and at the same time the differential (or synchronization) error between the angular positions of the two wheels.

  19. Patch models and their applications to multivehicle command and control.

    Science.gov (United States)

    Rao, Venkatesh G; D'Andrea, Raffaello

    2007-06-01

    We introduce patch models, a computational modeling formalism for multivehicle combat domains, based on spatiotemporal abstraction methods developed in the computer science community. The framework yields models that are expressive enough to accommodate nontrivial controlled vehicle dynamics while being within the representational capabilities of common artificial intelligence techniques used in the construction of autonomous systems. The framework allows several key design requirements of next-generation network-centric command and control systems, such as maintenance of shared situation awareness, to be achieved. Major features include support for multiple situation models at each decision node and rapid mission plan adaptation. We describe the formal specification of patch models and our prototype implementation, i.e., Patchworks. The capabilities of patch models are validated through a combat mission simulation in Patchworks, which involves two defending teams protecting a camp from an enemy attacking team.

  20. Tasking and control of a squad of robotic vehicles

    Science.gov (United States)

    Lewis, Christopher L.; Feddema, John T.; Klarer, Paul

    2001-09-01

    Sandia National Laboratories have developed a squad of robotic vehicles as a test-bed for investigating cooperative control strategies. The squad consists of eight RATLER vehicles and a command station. The RATLERs are medium-sized all-electric vehicles containing a PC104 stack for computation, control, and sensing. Three separate RF channels are used for communications; one for video, one for command and control, and one for differential GPS corrections. Using DGPS and IR proximity sensors, the vehicles are capable of autonomously traversing fairly rough terrain. The control station is a PC running Windows NT. A GUI has been developed that allows a single operator to task and monitor all eight vehicles. To date, the following mission capabilities have been demonstrated: 1. Way-Point Navigation, 2. Formation Following, 3. Perimeter Surveillance, 4. Surround and Diversion, and 5. DGPS Leap Frog. This paper describes the system and briefly outlines each mission capability. The DGPS Leap Frog capability is discussed in more detail. This capability is unique in that it demonstrates how cooperation allows the vehicles to accurately navigate beyond the RF communication range. One vehicle stops and uses its corrected GPS position to re-initialize its receiver to become the DGPS correction station for the other vehicles. Error in position accumulates each time a new vehicle takes over the DGPS duties. The accumulation in error is accurately modeled as a random walk phenomenon. This paper demonstrates how useful accuracy can be maintained beyond the vehicle's range.

  1. Fast and Efficient Radiological Interventions via a Graphical User Interface Commanded Magnetic Resonance Compatible Robotic Device

    Science.gov (United States)

    Özcan, Alpay; Christoforou, Eftychios; Brown, Daniel; Tsekos, Nikolaos

    2011-01-01

    The graphical user interface for an MR compatible robotic device has the capability of displaying oblique MR slices in 2D and a 3D virtual environment along with the representation of the robotic arm in order to swiftly complete the intervention. Using the advantages of the MR modality the device saves time and effort, is safer for the medical staff and is more comfortable for the patient. PMID:17946067

  2. Developing stereo image based robot control system

    Energy Technology Data Exchange (ETDEWEB)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  3. A Combination of Machine Learning and Cerebellar-like Neural Networks for the Motor Control and Motor Learning of the Fable Modular Robot

    DEFF Research Database (Denmark)

    Baira Ojeda, Ismael; Tolu, Silvia; Pacheco, Moises

    2017-01-01

    We scaled up a bio-inspired control architecture for the motor control and motor learning of a real modular robot. In our approach, the Locally Weighted Projection Regression algorithm (LWPR) and a cerebellar microcircuit coexist, in the form of a Unit Learning Machine. The LWPR algorithm optimizes...... the input space and learns the internal model of a single robot module to command the robot to follow a desired trajectory with its end-effector. The cerebellar-like microcircuit refines the LWPR output delivering corrective commands. We contrasted distinct cerebellar-like circuits including analytical...

  4. Application oriented programming and control of industrial robots

    International Nuclear Information System (INIS)

    Nilsson, Klas.

    1992-07-01

    Efficient use of industrial robots requires a strong interplay between user level commands, the motion control system, and external equipment. It should also be possible for an experienced application engineer to tailor the motion control to a specific application in a convenient way, instead of deficient utilization of the device or tricky user programming which is often the case today. A layered software architecture has been designed based on an application oriented view, considering typical hardware and software constraints. The top layers or the architecture support improved integration of off-line programming with interactive teach-in programming. The proposed solution is based on a transformation of robot programs between an on-line and an off-line representation. A central part of the architecture is an intermediate software layer, allowing the experienced user to introduce application specific motion primitives, on top of the motion control system. Flexibility during system configuration combined with computing efficiency and performance at run-time is of major importance. The solution is based on so called actions, which are methods to be passed between different software layers. Such methods can be specification of nonlinear control parameters, application specific control strategies, or treatment of external sensor signals. The actions can be implemented efficiently even in the multiprocessor case by using relocatable executable pieces of code generated from a special cross-compilation strategy. The lowest layers, comprising the motion control, have to be efficient and still fit in with the upper layers. In these layers, software solutions include an external sensor interface and a concept of motion pipelining allowing sensor based motions to be partly computed in advance. An experimental platform, built around commercially available robots, has been developed to verify the proposed solutions. (au)

  5. Using a cognitive architecture for general purpose service robot control

    Science.gov (United States)

    Puigbo, Jordi-Ysard; Pumarola, Albert; Angulo, Cecilio; Tellez, Ricardo

    2015-04-01

    A humanoid service robot equipped with a set of simple action skills including navigating, grasping, recognising objects or people, among others, is considered in this paper. By using those skills the robot should complete a voice command expressed in natural language encoding a complex task (defined as the concatenation of a number of those basic skills). As a main feature, no traditional planner has been used to decide skills to be activated, as well as in which sequence. Instead, the SOAR cognitive architecture acts as the reasoner by selecting which action the robot should complete, addressing it towards the goal. Our proposal allows to include new goals for the robot just by adding new skills (without the need to encode new plans). The proposed architecture has been tested on a human-sized humanoid robot, REEM, acting as a general purpose service robot.

  6. Intelligent computational control of multi-fingered dexterous robotic hand

    OpenAIRE

    Chen, Disi; Li, Gongfa; Jiang, Guozhang; Fang, Yinfeng; Ju, Zhaojie; Liu, Honghai

    2015-01-01

    We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural n...

  7. AMO EXPRESS: A Command and Control Experiment for Crew Autonomy

    Science.gov (United States)

    Stetson, Howard K.; Frank, Jeremy; Cornelius, Randy; Haddock, Angie; Wang, Lui; Garner, Larry

    2015-01-01

    NASA is investigating a range of future human spaceflight missions, including both Mars-distance and Near Earth Object (NEO) targets. Of significant importance for these missions is the balance between crew autonomy and vehicle automation. As distance from Earth results in increasing communication delays, future crews need both the capability and authority to independently make decisions. However, small crews cannot take on all functions performed by ground today, and so vehicles must be more automated to reduce the crew workload for such missions. NASA's Advanced Exploration Systems Program funded Autonomous Mission Operations (AMO) project conducted an autonomous command and control demonstration of intelligent procedures to automatically initialize a rack onboard the International Space Station (ISS) with power and thermal interfaces, and involving core and payload command and telemetry processing, without support from ground controllers. This autonomous operations capability is enabling in scenarios such as a crew medical emergency, and representative of other spacecraft autonomy challenges. The experiment was conducted using the Expedite the Processing of Experiments for Space Station (EXPRESS) rack 7, which was located in the Port 2 location within the U.S Laboratory onboard the International Space Station (ISS). Activation and deactivation of this facility is time consuming and operationally intensive, requiring coordination of three flight control positions, 47 nominal steps, 57 commands, 276 telemetry checks, and coordination of multiple ISS systems (both core and payload). The autonomous operations concept includes a reduction of the amount of data a crew operator is required to verify during activation or de-activation, as well as integration of procedure execution status and relevant data in a single integrated display. During execution, the auto-procedures provide a step-by-step messaging paradigm and a high level status upon termination. This

  8. Artificial intelligence in robot control systems

    Science.gov (United States)

    Korikov, A.

    2018-05-01

    This paper analyzes modern concepts of artificial intelligence and known definitions of the term "level of intelligence". In robotics artificial intelligence system is defined as a system that works intelligently and optimally. The author proposes to use optimization methods for the design of intelligent robot control systems. The article provides the formalization of problems of robotic control system design, as a class of extremum problems with constraints. Solving these problems is rather complicated due to the high dimensionality, polymodality and a priori uncertainty. Decomposition of the extremum problems according to the method, suggested by the author, allows reducing them into a sequence of simpler problems, that can be successfully solved by modern computing technology. Several possible approaches to solving such problems are considered in the article.

  9. Open core control software for surgical robots.

    Science.gov (United States)

    Arata, Jumpei; Kozuka, Hiroaki; Kim, Hyung Wook; Takesue, Naoyuki; Vladimirov, B; Sakaguchi, Masamichi; Tokuda, Junichi; Hata, Nobuhiko; Chinzei, Kiyoyuki; Fujimoto, Hideo

    2010-05-01

    In these days, patients and doctors in operation room are surrounded by many medical devices as resulting from recent advancement of medical technology. However, these cutting-edge medical devices are working independently and not collaborating with each other, even though the collaborations between these devices such as navigation systems and medical imaging devices are becoming very important for accomplishing complex surgical tasks (such as a tumor removal procedure while checking the tumor location in neurosurgery). On the other hand, several surgical robots have been commercialized, and are becoming common. However, these surgical robots are not open for collaborations with external medical devices in these days. A cutting-edge "intelligent surgical robot" will be possible in collaborating with surgical robots, various kinds of sensors, navigation system and so on. On the other hand, most of the academic software developments for surgical robots are "home-made" in their research institutions and not open to the public. Therefore, open source control software for surgical robots can be beneficial in this field. From these perspectives, we developed Open Core Control software for surgical robots to overcome these challenges. In general, control softwares have hardware dependencies based on actuators, sensors and various kinds of internal devices. Therefore, these control softwares cannot be used on different types of robots without modifications. However, the structure of the Open Core Control software can be reused for various types of robots by abstracting hardware dependent parts. In addition, network connectivity is crucial for collaboration between advanced medical devices. The OpenIGTLink is adopted in Interface class which plays a role to communicate with external medical devices. At the same time, it is essential to maintain the stable operation within the asynchronous data transactions through network. In the Open Core Control software, several

  10. Handling uncertainty and networked structure in robot control

    CERN Document Server

    Tamás, Levente

    2015-01-01

    This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer...

  11. Myoelectric Control Techniques for a Rehabilitation Robot

    Directory of Open Access Journals (Sweden)

    Alan Smith

    2011-01-01

    Full Text Available This work examines two different types of myoelectric control schemes for the purpose of rehabilitation robot applications. The first is a commonly used technique based on a Gaussian classifier. It is implemented in real time for healthy subjects in addition to a subject with Central Cord Syndrome (CCS. The myoelectric control scheme is used to control three degrees of freedom (DOF on a robot manipulator which corresponded to the robot's elbow joint, wrist joint, and gripper. The classes of motion controlled include elbow flexion and extension, wrist pronation and supination, hand grasping and releasing, and rest. Healthy subjects were able to achieve 90% accuracy. Single DOF controllers were first tested on the subject with CCS and he achieved 100%, 96%, and 85% accuracy for the elbow, gripper, and wrist controllers respectively. Secondly, he was able to control the three DOF controller at 68% accuracy. The potential applications for this scheme are rehabilitation and teleoperation. To overcome limitations in the pattern recognition based scheme, a second myoelectric control scheme is also presented which is trained using electromyographic (EMG data derived from natural reaching motions in the sagittal plane. This second scheme is based on a time delayed neural network (TDNN which has the ability to control multiple DOF at once. The controller tracked a subject's elbow and shoulder joints in the sagittal plane. Results showed an average error of 19° for the two joints. This myoelectric control scheme has the potential of being used in the development of exoskeleton and orthotic rehabilitation applications.

  12. Spaceport Command and Control System Automated Verification Software Development

    Science.gov (United States)

    Backus, Michael W.

    2017-01-01

    For as long as we have walked the Earth, humans have always been explorers. We have visited our nearest celestial body and sent Voyager 1 beyond our solar system1 out into interstellar space. Now it is finally time for us to step beyond our home and onto another planet. The Spaceport Command and Control System (SCCS) is being developed along with the Space Launch System (SLS) to take us on a journey further than ever attempted. Within SCCS are separate subsystems and system level software, each of which have to be tested and verified. Testing is a long and tedious process, so automating it will be much more efficient and also helps to remove the possibility of human error from mission operations. I was part of a team of interns and full-time engineers who automated tests for the requirements on SCCS, and with that was able to help verify that the software systems are performing as expected.

  13. Spaceport Command and Control System - Support Software Development

    Science.gov (United States)

    Tremblay, Shayne

    2016-01-01

    The Information Architecture Support (IAS) Team, the component of the Spaceport Command and Control System (SCCS) that is in charge of all the pre-runtime data, was in need of some report features to be added to their internal web application, Information Architecture (IA). Development of these reports is crucial for the speed and productivity of the development team, as they are needed to quickly and efficiently make specific and complicated data requests against the massive IA database. These reports were being put on the back burner, as other development of IA was prioritized over them, but the need for them resulted in internships being created to fill this need. The creation of these reports required learning Ruby on Rails development, along with related web technologies, and they will continue to serve IAS and other support software teams and their IA data needs.

  14. Man/terminal interaction evaluation of computer operating system command and control service concepts. [in Spacelab

    Science.gov (United States)

    Dodson, D. W.; Shields, N. L., Jr.

    1978-01-01

    The Experiment Computer Operating System (ECOS) of the Spacelab will allow the onboard Payload Specialist to command experiment devices and display information relative to the performance of experiments. Three candidate ECOS command and control service concepts were reviewed and laboratory data on operator performance was taken for each concept. The command and control service concepts evaluated included a dedicated operator's menu display from which all command inputs were issued, a dedicated command key concept with which command inputs could be issued from any display, and a multi-display concept in which command inputs were issued from several dedicated function displays. Advantages and disadvantages are discussed in terms of training, operational errors, task performance time, and subjective comments of system operators.

  15. Modeling and simulating command and control for organizations under extreme situations

    CERN Document Server

    Moon, Il-Chul; Kim, Tag Gon

    2013-01-01

    Commanding and controlling organizations in extreme situations is a challenging task in military, intelligence, and disaster management. Such command and control must be quick, effective, and considerate when dealing with the changing, complex, and risky conditions of the situation. To enable optimal command and control under extremes, robust structures and efficient operations are required of organizations. This work discusses how to design and conduct virtual experiments on resilient organizational structures and operational practices using modeling and simulation. The work illustrates key a

  16. Robot Saltador y Procedimiento para su Control

    OpenAIRE

    Akinfiev, Teodor; Armada, Manuel; Fernández, Roemi; Montes, Héctor

    2005-01-01

    Robot saltador para el movimiento en terrenos con obstáculos, que contiene al menos un resorte (4) con uno de sus extremos unido al cuerpo (1) del robot, y una cadena cinemática entre el motor (5) y el resorte (4) que comprende un cilindro (7) conectado con el eje del motor (5) y una cuerda (8), con uno de sus extremos conectado al cilindro (7) y con el segundo extremo conectado al pie (3). El procedimiento de control se caracteriza porque en el momento en el que el pie (3) pierde el contacto...

  17. Analysis, Control and Design of Walking Robots

    NARCIS (Netherlands)

    van Oort, Gijs

    2011-01-01

    In this thesis five research questions are discussed that are related to the development of two-legged (bipedal) walking robots. The research questions are categorized in three main topics: analysis, control and actuation and design. The research questions are: - How can we analyze the behavior of a

  18. Computer-controlled wall servicing robot

    Energy Technology Data Exchange (ETDEWEB)

    Lefkowitz, S. [Pentek, Inc., Corapolis, PA (United States)

    1995-03-01

    After four years of cooperative research, Pentek has unveiled a new robot with the capability to automatically deliver a variety of cleaning, painting, inspection, and surveillance devices to large vertical surfaces. The completely computer-controlled robot can position a working tool on a 50-foot tall by 50-foot wide vertical surface with a repeatability of 1/16 inch. The working end can literally {open_quotes}fly{close_quotes} across the face of a wall at speed of 60 per minute, and can handle working loads of 350 pounds. The robot was originally developed to decontaminate the walls of reactor fueling cavities at commercial nuclear power plants during fuel outages. If these cavities are left to dry after reactor refueling, contamination present in the residue could later become airborne and move throughout the containment building. Decontaminating the cavity during the refueling outage reduces the need for restrictive personal protective equipment during plant operations to limit the dose rates.

  19. Design and Implementation of the Automatic Assessment System for the Command and Control Specialty in Ships

    Directory of Open Access Journals (Sweden)

    Zhang Hao

    2017-01-01

    Full Text Available On the basis of analyzing the actual demand of automated assessment system for the command and control specialty in ships, the thought of the overall design of automated assessment system for the command and control specialty in ships is given, and the concrete realization methods of the user login module, test paper operation module and system maintenance module are studied and demonstrated. The proposed design idea and implementation method of automated assessment system for the command and control specialty in ships is scientific, efficient and practical, and provides reference for the exploitation of automated assessment system for the command and control specialty in ships.

  20. MAFFS and Military Support to Civil Authority: A Case Study in Command and Control

    National Research Council Canada - National Science Library

    Lindsey, Brian W

    2004-01-01

    .... Through the reconstruction of the Command and Control structure during the planning and execution phases of the Modular Airborne Fire Fighting System employment during the 2003 Southern California...

  1. IT Security Support for the Spaceport Command Control System Development

    Science.gov (United States)

    Varise, Brian

    2014-01-01

    My job title is IT Security support for the Spaceport Command & Control System Development. As a cyber-security analyst it is my job to ensure NASA's information stays safe from cyber threats, such as, viruses, malware and denial-of-service attacks by establishing and enforcing system access controls. Security is very important in the world of technology and it is used everywhere from personal computers to giant networks ran by Government agencies worldwide. Without constant monitoring analysis, businesses, public organizations and government agencies are vulnerable to potential harmful infiltration of their computer information system. It is my responsibility to ensure authorized access by examining improper access, reporting violations, revoke access, monitor information request by new programming and recommend improvements. My department oversees the Launch Control System and networks. An audit will be conducted for the LCS based on compliance with the Federal Information Security Management Act (FISMA) and The National Institute of Standards and Technology (NIST). I recently finished analyzing the SANS top 20 critical controls to give cost effective recommendations on various software and hardware products for compliance. Upon my completion of this internship, I will have successfully completed my duties as well as gain knowledge that will be helpful to my career in the future as a Cyber Security Analyst.

  2. Review on design and control aspects of ankle rehabilitation robots.

    Science.gov (United States)

    Jamwal, Prashant K; Hussain, Shahid; Xie, Sheng Q

    2015-03-01

    Ankle rehabilitation robots can play an important role in improving outcomes of the rehabilitation treatment by assisting therapists and patients in number of ways. Consequently, few robot designs have been proposed by researchers which fall under either of the two categories, namely, wearable robots or platform-based robots. This paper presents a review of both kinds of ankle robots along with a brief analysis of their design, actuation and control approaches. While reviewing these designs it was observed that most of them are undesirably inspired by industrial robot designs. Taking note of the design concerns of current ankle robots, few improvements in the ankle robot designs have also been suggested. Conventional position control or force control approaches, being used in the existing ankle robots, have been reviewed. Apparently, opportunities of improvement also exist in the actuation as well as control of ankle robots. Subsequently, a discussion on most recent research in the development of novel actuators and advanced controllers based on appropriate physical and cognitive human-robot interaction has also been included in this review. Implications for Rehabilitation Ankle joint functions are restricted/impaired as a consequence of stroke or injury during sports or otherwise. Robots can help in reinstating functions faster and can also work as tool for recording rehabilitation data useful for further analysis. Evolution of ankle robots with respect to their design and control aspects has been discussed in the present paper and a novel design with futuristic control approach has been proposed.

  3. Artificial Intelligence Applied to the Command, Control, Communications, and Intelligence of the U.S. Central Command.

    Science.gov (United States)

    1983-06-06

    these components will be presented. 4.17 °°,. CHAPTER III FOOTNOTES 1. Arron Barr and Edward A. Feigenbaum, eds., Te Handbook gf Artificial Inteligence ol...RD-R137 205 ARTIFICIAL INTELLIGENCE APPLIED TO THE COMIMAND CONTROL i/i COMMUNICATIONS RND..(U) ARMY WAR COLL CARLISLE BARRACKS U PA J N ENVART 06...appropriate mlitary servic or *swesmment aency. ARTIFICIAL INTELLIGENCE APPLIED TO THE COMMAND, CONTROL, COMMUNICATIONS, AND INTELLIGENCE OF THE U.S. CENTRAL

  4. Quantitative analysis of distributed control paradigms of robot swarms

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    2010-01-01

    describe the physical and simulated robots, experiment scenario, and experiment setup. Third, we present our robot controllers based on behaviour based and neural network based paradigms. Fourth, we graphically show their experiment results and quantitatively analyse the results in comparison of the two......Given a task of designing controller for mobile robots in swarms, one might wonder which distributed control paradigms should be selected. Until now, paradigms of robot controllers have been within either behaviour based control or neural network based control, which have been recognized as two...... mainstreams of controller design for mobile robots. However, in swarm robotics, it is not clear how to determine control paradigms. In this paper we study the two control paradigms with various experiments of swarm aggregation. First, we introduce the two control paradigms for mobile robots. Second, we...

  5. Task-space sensory feedback control of robot manipulators

    CERN Document Server

    Cheah, Chien Chern

    2015-01-01

    This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

  6. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

  7. Adaptive Robot Control – An Experimental Comparison

    Directory of Open Access Journals (Sweden)

    Francesco Alonge

    2012-11-01

    Full Text Available This paper deals with experimental comparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive, Neural Network and Wavelet -Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet-Based control scheme, with the new management algorithm, outperforms the conventional Model-Based schemes in the presence of structural uncertainties in the mathematical model of the robot, without pre-training and more efficiently than the Neural Network approach.

  8. Modeling and identification for high-performance robot control : an RRR-robotic arm case study

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Hensen, R.H.A.

    2004-01-01

    We explain a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design. The procedure consists of the following steps: (i) derivation of robot kinematic and dynamic models and establishing correctness of their structures; (ii) experimental estimation

  9. Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

    Science.gov (United States)

    Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

    2018-02-01

    We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

  10. Device for dynamic switching of robot control points

    DEFF Research Database (Denmark)

    2015-01-01

    The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom.......The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom....

  11. Spaceport Command and Control System Support Software Development

    Science.gov (United States)

    Brunotte, Leonard

    2016-01-01

    The Spaceport Command and Control System (SCCS) is a project developed and used by NASA at Kennedy Space Center in order to control and monitor the Space Launch System (SLS) at the time of its launch. One integral subteam under SCCS is the one assigned to the development of a data set building application to be used both on the launch pad and in the Launch Control Center (LCC) at the time of launch. This web application was developed in Ruby on Rails, a web framework using the Ruby object-oriented programming language, by a 15 - employee team (approx.). Because this application is such a huge undertaking with many facets and iterations, there were a few areas in which work could be more easily organized and expedited. As an intern working with this team, I was charged with the task of writing web applications that fulfilled this need, creating a virtual and highly customizable whiteboard in order to allow engineers to keep track of build iterations and their status. Additionally, I developed a knowledge capture web application wherein any engineer or contractor within SCCS could ask a question, answer an existing question, or leave a comment on any question or answer, similar to Stack Overflow.

  12. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  13. Reverse control for humanoid robot task recognition.

    Science.gov (United States)

    Hak, Sovannara; Mansard, Nicolas; Stasse, Olivier; Laumond, Jean Paul

    2012-12-01

    Efficient methods to perform motion recognition have been developed using statistical tools. Those methods rely on primitive learning in a suitable space, for example, the latent space of the joint angle and/or adequate task spaces. Learned primitives are often sequential: A motion is segmented according to the time axis. When working with a humanoid robot, a motion can be decomposed into parallel subtasks. For example, in a waiter scenario, the robot has to keep some plates horizontal with one of its arms while placing a plate on the table with its free hand. Recognition can thus not be limited to one task per consecutive segment of time. The method presented in this paper takes advantage of the knowledge of what tasks the robot is able to do and how the motion is generated from this set of known controllers, to perform a reverse engineering of an observed motion. This analysis is intended to recognize parallel tasks that have been used to generate a motion. The method relies on the task-function formalism and the projection operation into the null space of a task to decouple the controllers. The approach is successfully applied on a real robot to disambiguate motion in different scenarios where two motions look similar but have different purposes.

  14. Robot modelling; Control and applications with software

    Energy Technology Data Exchange (ETDEWEB)

    Ranky, P G; Ho, C Y

    1985-01-01

    This book provides a ''picture'' of robotics covering both the theoretical aspect of modeling as well as the practical and design aspects of: robot programming; robot tooling and automated hand changing; implementation planning; testing; and software design for robot systems. The authors present an introduction to robotics with a systems approach. They describe not only the tasks relating to a single robot (or arm) but also systems of robots working together on a product or several products.

  15. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    National Research Council Canada - National Science Library

    Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

    2005-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

  16. A Study of Mobile Robot Control using EEG Emotiv Epoch Sensor

    Directory of Open Access Journals (Sweden)

    Victorio Yasin Timothius

    2018-01-01

    Full Text Available The study was using an EEG Emotiv Epoc+ sensor to recognize brain activity for controlling a mobile robot's movement. The study used Emotiv Control Panel software for EEG command identification. The commands will be interfaced inside Mind Your OSCs software and processing software which processed inside an Arduino Controller. The output of the Arduino is a movement command (ie. forward, backward, turn left, and turn right. The training methods of the system composed of three sets of thinking mode. First, thinking with doing facial expressions. Second, thinking with visual help. Third, thinking mentally without any help. In the first set, there are two configurations thinking with facial expression help as command of the mobile robot. Final results of the system are the second facial expressions configuration as the best facial expressions method with success rate 88.33 %. The second facial expression configuration has overall response time 1.60175 s faster than the first facial expressions configuration. In these two methods have dominant signals on the frontal lobe. The second facial expressions method have overall respond time 6.12 and 9.53 s faster than thinking with visual, and thinking without help respectively.

  17. Command and Control of Private Security Contractors: Are They a Viable Force Option for the Combatant Commander?

    National Research Council Canada - National Science Library

    Sherard, Scott H

    2008-01-01

    If a Combatant Commander (CCDR) or Joint Force Commander (JFC) were to take command of the approximately 25,000 security contractors in Iraq, a force of such size and capability would prove to be a valuable operational asset...

  18. An extension of command shaping methods for controlling residual vibration using frequency sampling

    Science.gov (United States)

    Singer, Neil C.; Seering, Warren P.

    1992-01-01

    The authors present an extension to the impulse shaping technique for commanding machines to move with reduced residual vibration. The extension, called frequency sampling, is a method for generating constraints that are used to obtain shaping sequences which minimize residual vibration in systems such as robots whose resonant frequencies change during motion. The authors present a review of impulse shaping methods, a development of the proposed extension, and a comparison of results of tests conducted on a simple model of the space shuttle robot arm. Frequency shaping provides a method for minimizing the impulse sequence duration required to give the desired insensitivity.

  19. Model predictive Controller for Mobile Robot

    OpenAIRE

    Alireza Rezaee

    2017-01-01

    This paper proposes a Model Predictive Controller (MPC) for control of a P2AT mobile robot. MPC refers to a group of controllers that employ a distinctly identical model of process to predict its future behavior over an extended prediction horizon. The design of a MPC is formulated as an optimal control problem. Then this problem is considered as linear quadratic equation (LQR) and is solved by making use of Ricatti equation. To show the effectiveness of the proposed method this controller is...

  20. Control of compliant anthropomimetic robot joint

    Directory of Open Access Journals (Sweden)

    Svetozarević Bratislav

    2011-01-01

    Full Text Available In this paper we propose a control strategy for a robot joint which fully mimics the typical human joint structure. The joint drive is based on two actuators (dc motors, agonist and antagonist, acting through compliant tendons and forming a nonlinear multi-input multi-output (MIMO system. At any time, we consider one actuator, the puller, as being responsible for motion control, while the role of the other is to keep its tendon force at some appropriate low level. This human-like and energetically efficient approach requires the control of 'switching', or exchanging roles between actuators. Moreover, an algorithm based on adaptive force reference is used to solve a problem of slacken tendons during the switching and to increase the energy efficiency. This approach was developed and evaluated on increasingly complex robot joint configurations, starting with simple and noncompliant system, and finishing with nonlinear and compliant system.

  1. Brain Computer Interface for Micro-controller Driven Robot Based on Emotiv Sensors

    Directory of Open Access Journals (Sweden)

    Parth Gargava

    2017-08-01

    Full Text Available A Brain Computer Interface (BCI is developed to navigate a micro-controller based robot using Emotiv sensors. The BCI system has a pipeline of 5 stages- signal acquisition, pre-processing, feature extraction, classification and CUDA inter- facing. It shall aid in serving a prototype for physical movement of neurological patients who are unable to control or operate on their muscular movements. All stages of the pipeline are designed to process bodily actions like eye blinks to command navigation of the robot. This prototype works on features learning and classification centric techniques using support vector machine. The suggested pipeline, ensures successful navigation of a robot in four directions in real time with accuracy of 93 percent.

  2. Measuring, Monitoring, and Managing Knowledge in Command and Control Organizations

    National Research Council Canada - National Science Library

    Freeman, Jared; Weil, Shawn A; Hess, Kathleen P

    2006-01-01

    .... Iconography and interaction standards for such displays are well defined. Less attention has been paid to representing non-geographical information, such as information about the state of knowledge and decision making in a command staff...

  3. Joint Forward Operating Base Elements of Command and Control

    National Research Council Canada - National Science Library

    Summers, William

    2002-01-01

    ... and its associated leadership, command of air assets at a joint forward operating base lacks guidance. Today, the United States prosecutes an air war over Afghanistan from bases in Uzbekistan, Pakistan, and Afghanistan...

  4. IT Security Support for Spaceport Command and Control System

    Science.gov (United States)

    McLain, Jeffrey

    2013-01-01

    During the fall 2013 semester, I worked at the Kennedy Space Center as an IT Security Intern in support of the Spaceport Command and Control System under the guidance of the IT Security Lead Engineer. Some of my responsibilities included assisting with security plan documentation collection, system hardware and software inventory, and malicious code and malware scanning. Throughout the semester, I had the opportunity to work on a wide range of security related projects. However, there are three projects in particular that stand out. The first project I completed was updating a large interactive spreadsheet that details the SANS Institutes Top 20 Critical Security Controls. My task was to add in all of the new commercial of the shelf (COTS) software listed on the SANS website that can be used to meet their Top 20 controls. In total, there are 153 unique security tools listed by SANS that meet one or more of their 20 controls. My second project was the creation of a database that will allow my mentor to keep track of the work done by the contractors that report to him in a more efficient manner by recording events as they occur throughout the quarter. Lastly, I expanded upon a security assessment of the Linux machines being used on center that I began last semester. To do this, I used a vulnerability and configuration tool that scans hosts remotely through the network and presents the user with an abundance of information detailing each machines configuration. The experience I gained from working on each of these projects has been invaluable, and I look forward to returning in the spring semester to continue working with the IT Security team.

  5. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  6. Adaptive control of robotic manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

    The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

  7. Dynamic control of quadruped robot with hierarchical control structure

    International Nuclear Information System (INIS)

    Wang, Yu-Zhang; Furusho, Junji; Okajima, Yosuke.

    1988-01-01

    For moving on irregular terrain, such as the inside of a nuclear power plant and outer space, it is generally recognized that the multilegged walking robot is suitable. This paper proposes a hierarchical control structure for the dynamic control of quadruped walking robots. For this purpose, we present a reduced order model which can approximate the original higher order model very well. Since this reduced order model does not require much computational time, it can be used in the real-time control of a quadruped walking robot. A hierarchical control experiment is shown in which the optimal control algorithm using a reduced order model is calculated by one microprocessor, and the other control algorithm is calculated by another microprocessor. (author)

  8. Preventive Command and Control Regulation: A Case Analysis

    Directory of Open Access Journals (Sweden)

    Beatriz Junquera

    2016-01-01

    Full Text Available The aim of the current study is to evaluate new preventive command-and-control environmental regulation’s competitive effects on automobile manufacturers and their suppliers. The methodology that we have used is a case analysis, and its main aim is to study an unfamiliar situation. Therefore, we have chosen cases from each of the groups: two suppliers and one manufacturer. The new regulation obliges automobile companies to deeply modify their process technologies and their relationships with their suppliers (toughening requirements and strengthening long-term relationships and to require their workers to train in environmental matters. Complying with regulation by suppliers will be possible if product and process designs are modified. However, only organisational actions, which include workers’ training in environmental and quality matters and activities to recover value in factories, are capable to achieve it. In any case, these factories have already been affected by trade-offs between environmental and other more classic manufacturing objectives, especially quality.

  9. First responder tracking and visualization for command and control toolkit

    Science.gov (United States)

    Woodley, Robert; Petrov, Plamen; Meisinger, Roger

    2010-04-01

    In order for First Responder Command and Control personnel to visualize incidents at urban building locations, DHS sponsored a small business research program to develop a tool to visualize 3D building interiors and movement of First Responders on site. 21st Century Systems, Inc. (21CSI), has developed a toolkit called Hierarchical Grid Referenced Normalized Display (HiGRND). HiGRND utilizes three components to provide a full spectrum of visualization tools to the First Responder. First, HiGRND visualizes the structure in 3D. Utilities in the 3D environment allow the user to switch between views (2D floor plans, 3D spatial, evacuation routes, etc.) and manually edit fast changing environments. HiGRND accepts CAD drawings and 3D digital objects and renders these in the 3D space. Second, HiGRND has a First Responder tracker that uses the transponder signals from First Responders to locate them in the virtual space. We use the movements of the First Responder to map the interior of structures. Finally, HiGRND can turn 2D blueprints into 3D objects. The 3D extruder extracts walls, symbols, and text from scanned blueprints to create the 3D mesh of the building. HiGRND increases the situational awareness of First Responders and allows them to make better, faster decisions in critical urban situations.

  10. Development of a robot Holon using an open modular controller

    DEFF Research Database (Denmark)

    Schnell, Jakob; Andersen, Søren; Sørensen, Christian

    1999-01-01

    System (HoMuCS) architecture and methodology for implementing a HMS. This paper specifically reviews the development of a Robot Holon based on an open controller in the context of the HoMuCS architecture. The paper will describe the results and research work that was involved in developing a robot holon...... for a physical robot. The robot holon was implemented on an existing robot at the department which was upgraded by removing its native control system and replacing it with a new PC-based open controller. The development of the robot holon builds on the notion that a robot holon will be able to performboth......Holonic Manufacturing Systems (HMS) has during the last period presented itself as an advantageous theoretical foundation for the problems that arise in controlling agile manufacturing systems. Previous research, at the Department, has demonstrated how modern shop floor control systems can...

  11. Artificial Intelligence for Controlling Robotic Aircraft

    Science.gov (United States)

    Krishnakumar, Kalmanje

    2005-01-01

    A document consisting mostly of lecture slides presents overviews of artificial-intelligence-based control methods now under development for application to robotic aircraft [called Unmanned Aerial Vehicles (UAVs) in the paper] and spacecraft and to the next generation of flight controllers for piloted aircraft. Following brief introductory remarks, the paper presents background information on intelligent control, including basic characteristics defining intelligent systems and intelligent control and the concept of levels of intelligent control. Next, the paper addresses several concepts in intelligent flight control. The document ends with some concluding remarks, including statements to the effect that (1) intelligent control architectures can guarantee stability of inner control loops and (2) for UAVs, intelligent control provides a robust way to accommodate an outer-loop control architecture for planning and/or related purposes.

  12. Inverse kinematic-based robot control

    Science.gov (United States)

    Wolovich, W. A.; Flueckiger, K. F.

    1987-01-01

    A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

  13. Software toolkit for modeling, simulation and control of soft robots

    OpenAIRE

    Coevoet , Eulalie; Morales-Bieze , Thor; Largilliere , Frederick; Zhang , Zhongkai; Thieffry , Maxime; Sanz-Lopez , Mario; Carrez , Bruno; Marchal , Damien; Goury , Olivier; Dequidt , Jeremie; Duriez , Christian

    2017-01-01

    International audience; The technological differences between traditional robotics and soft robotics have an impact on all of the modeling tools generally in use, including direct kinematics and inverse models, Jacobians, and dynamics. Due to the lack of precise modeling and control methods for soft robots, the promising concepts of using such design for complex applications (medicine, assistance, domestic robotics...) cannot be practically implemented. This paper presents a first unified sof...

  14. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi...... a requirement specification in Computational Tree Logic (CTL) for a network of robots. The result is a set of motion plans for the robots which satisfy the specification. Framework II - A framework for controller synthesis for a single robot with respect to requirement specification in Linear-time Temporal...

  15. Visual Control of Robots Using Range Images

    Directory of Open Access Journals (Sweden)

    Fernando Torres

    2010-08-01

    Full Text Available In the last years, 3D-vision systems based on the time-of-flight (ToF principle have gained more importance in order to obtain 3D information from the workspace. In this paper, an analysis of the use of 3D ToF cameras to guide a robot arm is performed. To do so, an adaptive method to simultaneous visual servo control and camera calibration is presented. Using this method a robot arm is guided by using range information obtained from a ToF camera. Furthermore, the self-calibration method obtains the adequate integration time to be used by the range camera in order to precisely determine the depth information.

  16. Generating Control Commands From Gestures Sensed by EMG

    Science.gov (United States)

    Wheeler, Kevin R.; Jorgensen, Charles

    2006-01-01

    An effort is under way to develop noninvasive neuro-electric interfaces through which human operators could control systems as diverse as simple mechanical devices, computers, aircraft, and even spacecraft. The basic idea is to use electrodes on the surface of the skin to acquire electromyographic (EMG) signals associated with gestures, digitize and process the EMG signals to recognize the gestures, and generate digital commands to perform the actions signified by the gestures. In an experimental prototype of such an interface, the EMG signals associated with hand gestures are acquired by use of several pairs of electrodes mounted in sleeves on a subject s forearm (see figure). The EMG signals are sampled and digitized. The resulting time-series data are fed as input to pattern-recognition software that has been trained to distinguish gestures from a given gesture set. The software implements, among other things, hidden Markov models, which are used to recognize the gestures as they are being performed in real time. Thus far, two experiments have been performed on the prototype interface to demonstrate feasibility: an experiment in synthesizing the output of a joystick and an experiment in synthesizing the output of a computer or typewriter keyboard. In the joystick experiment, the EMG signals were processed into joystick commands for a realistic flight simulator for an airplane. The acting pilot reached out into the air, grabbed an imaginary joystick, and pretended to manipulate the joystick to achieve left and right banks and up and down pitches of the simulated airplane. In the keyboard experiment, the subject pretended to type on a numerical keypad, and the EMG signals were processed into keystrokes. The results of the experiments demonstrate the basic feasibility of this method while indicating the need for further research to reduce the incidence of errors (including confusion among gestures). Topics that must be addressed include the numbers and arrangements

  17. Adaptive learning fuzzy control of a mobile robot

    International Nuclear Information System (INIS)

    Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

    1989-11-01

    In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

  18. A Multi-Agent Control Architecture for a Robotic Wheelchair

    Directory of Open Access Journals (Sweden)

    C. Galindo

    2006-01-01

    Full Text Available Assistant robots like robotic wheelchairs can perform an effective and valuable work in our daily lives. However, they eventually may need external help from humans in the robot environment (particularly, the driver in the case of a wheelchair to accomplish safely and efficiently some tricky tasks for the current technology, i.e. opening a locked door, traversing a crowded area, etc. This article proposes a control architecture for assistant robots designed under a multi-agent perspective that facilitates the participation of humans into the robotic system and improves the overall performance of the robot as well as its dependability. Within our design, agents have their own intentions and beliefs, have different abilities (that include algorithmic behaviours and human skills and also learn autonomously the most convenient method to carry out their actions through reinforcement learning. The proposed architecture is illustrated with a real assistant robot: a robotic wheelchair that provides mobility to impaired or elderly people.

  19. Future command and control systems should combine decision support and personalization interface features

    NARCIS (Netherlands)

    Streefkerk, J.W.; Smets, N.; Varkevisser, M.; Hiemstra-Van Mastrigt, S.

    2014-01-01

    On future battlefields, increasingly more sensor information will become available for military commanders to support mission execution. To improve (shared) situational awareness, decision-making and communication in face of this increased amount of information, the design of command and control

  20. The Operations Intent and Effects Model: A Command and Control Methodology for Increased Automation

    Science.gov (United States)

    2013-06-01

    Command and Control Process (Curts and Cambell , 2006), in that an order describes Actions that cause Effects. The Effects in turn change the Current...Interoperability Workshop. Orlando, FL, USA, IEEE CS Press. Curts, R. J., Dr. & Cambell , D. E., Dr. (2006) “Rethinking Command & Control”. Paper 005

  1. History of Command and Control at KSC: Kennedy Engineering Academy Series

    Science.gov (United States)

    Hurt, George Richard

    2007-01-01

    Agenda for this presentation is: Evolution of Command and Control (C&C), C&C history, Launch Processing System overview, Core System Overview, Checkout & Launch Control System, Overview and Commercial-Off-The-Shelf guidelines

  2. Robotic Automation in Computer Controlled Polishing

    Science.gov (United States)

    Walker, D. D.; Yu, G.; Bibby, M.; Dunn, C.; Li, H.; Wu, Y.; Zheng, X.; Zhang, P.

    2016-02-01

    We first present a Case Study - the manufacture of 1.4 m prototype mirror-segments for the European Extremely Large Telescope, undertaken by the National Facility for Ultra Precision Surfaces, at the OpTIC facility operated by Glyndwr University. Scale-up to serial-manufacture demands delivery of a 1.4 m off-axis aspheric hexagonal segment with surface precision robots and computer numerically controlled ('CNC') polishing machines for optical fabrication. The objective was not to assess which is superior. Rather, it was to understand for the first time their complementary properties, leading us to operate them together as a unit, integrated in hardware and software. Three key areas are reported. First is the novel use of robots to automate currently-manual operations on CNC polishing machines, to improve work-throughput, mitigate risk of damage to parts, and reduce dependence on highly-skilled staff. Second is the use of robots to pre-process surfaces prior to CNC polishing, to reduce total process time. The third draws the threads together, describing our vision of the automated manufacturing cell, where the operator interacts at cell rather than machine level. This promises to deliver a step-change in end-to-end manufacturing times and costs, compared with either platform used on its own or, indeed, the state-of-the-art used elsewhere.

  3. Design and evaluation of a motor imagery electroencephalogram-controlled robot system

    Directory of Open Access Journals (Sweden)

    Baoguo Xu

    2015-03-01

    Full Text Available Brain–computer interface provides a new communication channel to control external device by directly translating the brain activity into commands. In this article, as the foundation of electroencephalogram-based robot-assisted upper limb rehabilitation therapy, we report on designing a brain–computer interface–based online robot control system which is made up of electroencephalogram amplifier, acquisition and experimental platform, feature extraction algorithm based on discrete wavelet transform and autoregressive model, linear discriminant analysis classifier, robot control board, and Rhino XR-1 robot. The performance of the system has been tested by 30 participants, and satisfactory results are achieved with an average error rate of 8.5%. Moreover, the advantage of the feature extraction method was further validated by the Graz data set for brain–computer interface competition 2003, and an error rate of 10.0% was obtained. This method provides a useful way for the research of brain–computer interface system and lays a foundation for brain–computer interface–based robotic upper extremity rehabilitation therapy.

  4. Towards a Unified Representation of Mechanisms for Robotic Control Software

    Directory of Open Access Journals (Sweden)

    Antonio Diaz-Calderon

    2008-11-01

    Full Text Available This article gives an overview of the Mechanism Model paradigm. The mechanism model paradigm provides a framework to modeling mechanisms for robotic control. The emphasis is on the unification of mathematical models of kinematics/dynamics, geometric information and control system parameters for a variety of robotic systems (including serial manipulators, wheeled and legged locomotors, with algorithms that are needed for typical robot control applications.

  5. Feedback Control Design for a Walking Athlete Robot

    Directory of Open Access Journals (Sweden)

    Xuan Vu Trien Nguyen

    2017-06-01

    Full Text Available In the paper, authors generalized the dynamic model of an athlete robot with elastic legs through Lagrange method. Then, a feed-back controller was designed to control the robot through a step-walking. The research just focused on stance phase – the period that robot just touched one leg on the ground. The simulation results showed that system worked well with the designed controller.

  6. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  7. Mobile robot navigation in unknown static environments using ANFIS controller

    Directory of Open Access Journals (Sweden)

    Anish Pandey

    2016-09-01

    Full Text Available Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.

  8. Navigation control of a multi-functional eye robot

    International Nuclear Information System (INIS)

    Ali, F.A.M.; Hashmi, B.; Younas, A.; Abid, B.

    2016-01-01

    The advancement in robotic field is enhanced rigorously in the past Few decades. Robots are being used in different fields of science as well as warfare. The research shows that in the near future, robots would be able to serve in fighting wars. Different countries and their armies have already deployed several military robots. However, there exist some drawbacks of robots like their inefficiency and inability to work under abnormal conditions. Ascent of artificial intelligence may resolve this issue in the coming future. The main focus of this paper is to provide a low cost and long range most efficient mechanical as well as software design of an Eye Robot. Using a blend of robotics and image processing with an addition of artificial intelligence path navigation techniques, this project is designed and implemented by controlling the robot (including robotic arm and camera) through a 2.4 GHz RF module manually. Autonomous function of the robot includes navigation based on the path assigned to the robot. The path is drawn on a VB based application and then transferred to the robot wirelessly or through serial port. A Wi-Fi based Optical Character Recognition (OCR) implemented video streaming can also be observed at remote devices like laptops. (author)

  9. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  10. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  11. Formal-Language-Theoretic Control & Coordination of Mobile Robots

    National Research Council Canada - National Science Library

    Ray, Asok

    2007-01-01

    .... The research has formulated and experimentally validated robust adaptive algorithms and software codes for decision and control of mobile robotic platforms, as applied to real-time computation...

  12. Control of wheeled mobile robot in restricted environment

    Science.gov (United States)

    Ali, Mohammed A. H.; En, Chang Yong

    2018-03-01

    This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

  13. Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

    Science.gov (United States)

    Hongbo Wang; Kosuge, K

    2012-01-01

    Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

  14. Airborne Intelligence, Surveillance, and Reconnaissance: Mission Command and Centralized Control

    Science.gov (United States)

    2014-12-10

    short stint in Texas, Stuart reported to Fort Leavenworth, where he began his career as a cavalryman and found himself confronted with the torrent of...found themselves back at the War Department in a meeting with Secretary Floyd and President James Buchanan.50 The Secretary of War placed Lee in command...and Aldie. Those fights were tactical victories for the Union cavalry and Stuart had lost 500 men , but his cavalry had served its operational

  15. A ROBOT AND A METHOD OF CONTROLLING A ROBOT

    DEFF Research Database (Denmark)

    2017-01-01

    The present invention relates to a robot comprising a horizontal or horizontally slanted transparent experiment layer being adapted to support items at arbitrary positions on or in the experiment layer, and a moveable sensor arranged below the transparent experimental layer said sensor being...

  16. Hybrid EEG-fNIRS-Based Eight-Command Decoding for BCI: Application to Quadcopter Control.

    Science.gov (United States)

    Khan, Muhammad Jawad; Hong, Keum-Shik

    2017-01-01

    In this paper, a hybrid electroencephalography-functional near-infrared spectroscopy (EEG-fNIRS) scheme to decode eight active brain commands from the frontal brain region for brain-computer interface is presented. A total of eight commands are decoded by fNIRS, as positioned on the prefrontal cortex, and by EEG, around the frontal, parietal, and visual cortices. Mental arithmetic, mental counting, mental rotation, and word formation tasks are decoded with fNIRS, in which the selected features for classification and command generation are the peak, minimum, and mean ΔHbO values within a 2-s moving window. In the case of EEG, two eyeblinks, three eyeblinks, and eye movement in the up/down and left/right directions are used for four-command generation. The features in this case are the number of peaks and the mean of the EEG signal during 1 s window. We tested the generated commands on a quadcopter in an open space. An average accuracy of 75.6% was achieved with fNIRS for four-command decoding and 86% with EEG for another four-command decoding. The testing results show the possibility of controlling a quadcopter online and in real-time using eight commands from the prefrontal and frontal cortices via the proposed hybrid EEG-fNIRS interface.

  17. Hybrid EEG–fNIRS-Based Eight-Command Decoding for BCI: Application to Quadcopter Control

    Science.gov (United States)

    Khan, Muhammad Jawad; Hong, Keum-Shik

    2017-01-01

    In this paper, a hybrid electroencephalography–functional near-infrared spectroscopy (EEG–fNIRS) scheme to decode eight active brain commands from the frontal brain region for brain–computer interface is presented. A total of eight commands are decoded by fNIRS, as positioned on the prefrontal cortex, and by EEG, around the frontal, parietal, and visual cortices. Mental arithmetic, mental counting, mental rotation, and word formation tasks are decoded with fNIRS, in which the selected features for classification and command generation are the peak, minimum, and mean ΔHbO values within a 2-s moving window. In the case of EEG, two eyeblinks, three eyeblinks, and eye movement in the up/down and left/right directions are used for four-command generation. The features in this case are the number of peaks and the mean of the EEG signal during 1 s window. We tested the generated commands on a quadcopter in an open space. An average accuracy of 75.6% was achieved with fNIRS for four-command decoding and 86% with EEG for another four-command decoding. The testing results show the possibility of controlling a quadcopter online and in real-time using eight commands from the prefrontal and frontal cortices via the proposed hybrid EEG–fNIRS interface. PMID:28261084

  18. Vulnerability Analysis of the Player Command and Control Protocol

    Science.gov (United States)

    2012-06-14

    client plug-ins currentl:v only exist for C++, . Java . and Python. Player is designed a.’:i a. client-server architecture in which robots running Player...I 0.. double -1.0272 angular velocity ;.... ~ va t- <ll ~ 38 2D 73 65 * :>, ""’::!’ ell I 0, +’ 00 00 00 01 uint8 t state 1 motor state v .S 2.5

  19. Reform of Command and Control Structures in North Atlantic Treaty Organization Special Operations Forces

    National Research Council Canada - National Science Library

    Berg, Robert S

    2007-01-01

    .... The central research question is as follows: Does NATO require a standing Special Operations Force Command and Control structure and combat capability to meet the emerging global security requirements of the Alliance...

  20. Maneuver and Effect: The Need for Chutes and Ladders Command and Control

    National Research Council Canada - National Science Library

    Rizer, Scott

    2003-01-01

    ... and perspectives which conflict with those of assigned or supported forces, An alternative lies in severing the C2 links between component-based command organizations and service-oriented control perspectives...

  1. Aircraft Command Control Communications and Navigation Systems, AFSC 2A4X3, OSSN: 2308

    National Research Council Canada - National Science Library

    1998-01-01

    1. Survey Coverage: The Aircraft Command Control Communications and Navigation Systems career ladder was surveyed to provide current job and task data for use in updating career ladder documents and training programs...

  2. Operational Command and Control: Lessons for Today's Joint Force from Grenada, Somalia, and Kosovo

    National Research Council Canada - National Science Library

    Foraker III, Joseph C

    2007-01-01

    This paper examines operational command and control issues encountered during Operation Urgent Fury in Grenada, the deployment of Task Force Ranger in Mogadishu, Somalia, and Operation Allied Force in Kosovo...

  3. Putting the "O" in Joint DOTMLPF: Organizational Capabilities for Joint Task Force Command and Control

    National Research Council Canada - National Science Library

    Dickens, James F

    2005-01-01

    ...) command and control (C2) in unanticipated operational crises. This is true largely because the development and acquisition of military organizations necessary for effective JTF C2 remain the purview of individual services...

  4. Command and Control Software for Single-Operator Multiple UAS Missions, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Existing command and control (C2) paradigms for UAS platforms are extremely limited and cumbersome, requiring at least a single operator per UAS, if not more than...

  5. Command and Control Software for Single-Operator Multiple UAS Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Existing command and control (C2) paradigms for UAS platforms are extremely limited and cumbersome, requiring at least a single operator per UAS, if not more than...

  6. Knowledge Management for Distributed Tracking and the Next-Generation Command and Control

    National Research Council Canada - National Science Library

    Ceruti, Marion G; Wright, Tedd L

    2006-01-01

    Knowledge Management for Distributed-Tracking (KMDT) is an ongoing research and development project to improve military-information functions in the battle space, such as command, control, and decision support...

  7. Experiences from constructing command and control simulations using a tactical data link standard

    CSIR Research Space (South Africa)

    Uys, DC

    2009-09-01

    Full Text Available Most operational command and control systems use a tactical data link to communicate. The need to integrate simulated systems with operational systems and other simulated systems resulted in the utilization of tactical data link for the integration...

  8. Acquisition and Retention of Team Coordination in Command-and-Control

    National Research Council Canada - National Science Library

    Cooke, Nancy J; Gorman, Jamie; Pedersen, Harry K; Winner, Jennifer; Duran, Jasmine; Taylor, Amanda; Amazeen, Polemnia G; Andrews, Dee; Rowe, Leah

    2007-01-01

    ...) command-and-control. In Experiment 1 we addressed the development of team coordination with experience and over lengthy intervals without practice in situations in which the team retains the same or different members over time...

  9. Microworld Simulations for Command and Control Training of Theater Logistics and Support Staffs A Curriculum Strategy

    National Research Council Canada - National Science Library

    Bondanella, John

    1998-01-01

    ...) command and control (C2). These challenges and changes to how CSS management will occur in an increasingly information-rich and distributed environment provide the opportunity to reexamine training for support staffs...

  10. Evolutionary Acquisition of the Global Command and Control System: Lessons Learned

    National Research Council Canada - National Science Library

    Wallis, Johnathan

    1998-01-01

    This paper summarizes a "lessons learned" study that reviews DoD's approach to managing the GCCS program on behalf on the Assistant Secretary of Defense for Command, Control, Communications, and Intelligence (ASD/C3I...

  11. In Command And Out Of Control: Leaders Developing Teams That Thrive In Chaos And Ambiguity

    Science.gov (United States)

    2016-05-26

    In Command and Out of Control: Leaders Developing Teams that Thrive in Chaos and Ambiguity A Monograph by...TITLE AND SUBTITLE Sa. CONTRACT NUMBER In Command and Out of Control: Leaders Developing Teams that Thrive in Chaos and Ambiguity Sb. GRANT NUMBER...the chaos and ambiguity associated with war. Teams must provide the innovative and creative solutions formerly left to the individual leader. This

  12. Whole-body impedance control of wheeled humanoid robots

    CERN Document Server

    Dietrich, Alexander

    2016-01-01

    Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body ...

  13. EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

    Directory of Open Access Journals (Sweden)

    Michal KOPČÍK

    2017-09-01

    Full Text Available This article deals with design and implementation of control system for mobile robots with differential drive using embedded system. This designed embedded system consists of single control board featuring ARM based microcontroller which control the peripherals in real time and perform all low-level motion control. Designed embedded system can be easily expanded with additional sensors, actuators or control units to enhance applicability of mobile robot. Designed embedded system also features build-in communication module, which can be used for data for data acquisition and control of the mobile robot. Control board was implemented on two different types of mobile robots with differential drive, one of which was wheeled and other was tracked. These mobile robots serve as testing platform for Fault Detection and Isolation using hardware and analytical redundancy using Multisensor Data Fusion based on Kalman filters.

  14. Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot

    Directory of Open Access Journals (Sweden)

    Xiaoqian Mao

    2017-03-01

    Full Text Available This article presents a strategy for hand-free control of an NAO humanoid robot via head gesture detected by Google Glass-based multi-sensor fusion. First, we introduce a Google Glass-based robot system by integrating the Google Glass and the NAO humanoid robot, which is able to send robot commands through Wi-Fi communications between the Google Glass and the robot. Second, we detect the operator’s head gestures by processing data from multiple sensors including accelerometers, geomagnetic sensors and gyroscopes. Next, we use a complementary filter to eliminate drift of the head gesture reference, which greatly improves the control performance. This is accomplished by the high-pass filter component on the control signal. Finally, we conduct obstacle avoidance experiments while navigating the robot to validate the effectiveness and reliability of this system. The experimental results show that the robot is smoothly navigated from its initial position to its destination with obstacle avoidance via the Google Glass. This hands-free control system can benefit those with paralysed limbs.

  15. Hierarchical coordination control of mobile robots

    NARCIS (Netherlands)

    Adinandra, S.

    2012-01-01

    In the last decade, robotic systems have penetrated human life more than human can imagine. In particular, the multi-mobile robotic systems have faced a fast growing due to the fact that by deploying a large collection of mobile robots the overall system has a high redundancy and offers the

  16. Biologically-Inspired Control Architecture for Musical Performance Robots

    Directory of Open Access Journals (Sweden)

    Jorge Solis

    2014-10-01

    Full Text Available At Waseda University, since 1990, the authors have been developing anthropomorphic musical performance robots as a means for understanding human control, introducing novel ways of interaction between musical partners and robots, and proposing applications for humanoid robots. In this paper, the design of a biologically-inspired control architecture for both an anthropomorphic flutist robot and a saxophone playing robot are described. As for the flutist robot, the authors have focused on implementing an auditory feedback system to improve the calibration procedure for the robot in order to play all the notes correctly during a performance. In particular, the proposed auditory feedback system is composed of three main modules: an Expressive Music Generator, a Feed Forward Air Pressure Control System and a Pitch Evaluation System. As for the saxophone-playing robot, a pressure-pitch controller (based on the feedback error learning to improve the sound produced by the robot during a musical performance was proposed and implemented. In both cases studied, a set of experiments are described to verify the improvements achieved while considering biologically-inspired control approaches.

  17. Transforming Airborne Command and Control and Intelligence, Surveillance, and Reconnaissance

    Science.gov (United States)

    2012-06-01

    the US Government, Department of Defense, the United States Air Force, or Air University. In accordance with Air Force Instruction 51-303, it is not...Staff level. Lt Col Roger “Charlie” Brown offered key perspective at the Major Command level. Lt Col Herb “Weed” Maraman, Sqn Ldr Mike Lyttle...studied the feasibility of using space-based radar (SBR) platforms as well as large manned aircraft like the E-10A to meet USAF C2 and ISR operational

  18. Microcontroller Based Robot Prototype Manual Control with Atmega8535 Joystick

    OpenAIRE

    Azella Maulidya; Luyung Dinaini, Skom, MMSi

    2008-01-01

    In writing that I make with the title "PROTOTYPE ROBOT WITH MANUAL CONTROLS microcontroller ATMega8535 joystick" is intended to be a control instrument to be developed further into a tool of control that can be more useful again .

  19. A review on modeling, identification and servo control of robotic ...

    African Journals Online (AJOL)

    user

    This article reviews modeling, identification, and low level control of the robotic excavator. ... The oil viscosity, oil flow through the spool valves, and variable loading, ..... squares, to identify all the unknown individual parameters for a unmanned ..... Robust low level control of robotic excavation, PhD Thesis, The University of ...

  20. Integration of advanced teleoperation technologies for control of space robots

    Science.gov (United States)

    Stagnaro, Michael J.

    1993-01-01

    Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

  1. Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

    Directory of Open Access Journals (Sweden)

    Sébastien Mick

    2017-10-01

    Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

  2. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    OpenAIRE

    Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes

    2017-01-01

    A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivi...

  3. Command and Control (C2) in Joint Operations: Separate Functions, their Purpose, and Application to Battle Command in the 2lst Century

    National Research Council Canada - National Science Library

    Hampton, David

    1998-01-01

    The command and control function at the operational level is the most important operations function because it ties together the other functions at all levels of war across the range of military operations...

  4. Testing command and control of the satellites in formation flight

    Science.gov (United States)

    Gheorghe, Popan; Gheorghe, Gh. Ion; Gabriel, Todoran

    2013-10-01

    The topics covered in the paper are mechatronic systems for determining the distance between the satellites and the design of the displacement system on air cushion table for satellites testing. INCDMTM has the capability to approach the collaboration within European Programms (ESA) of human exploration of outer space through mechatronic systems and accessories for telescopes, mechatronics systems used by the launchers, sensors and mechatronic systems for the robotic exploration programs of atmosphere and Mars. This research has a strong development component of industrial competitiveness many of the results of space research have direct applicability in industrial fabrication.

  5. Experiments in robotic sensorimotor control during grasp

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1993-01-01

    A series of experiments is presented, using a robot manipulator, which attempt to reproduce human sensorimotor control during grasping. The work utilizes a multifingered, dexterous robot hand equipped with a fingertip force sensor to explore dynamic grasp force adjustment during manipulation. The work is primarily concerned with the relationship between the weight of an object and the grasp force required to lift it. Too weak a grasp is unstable and the object will slip from the hand. Too strong a grasp may damage the object and/or the manipulator. An algorithm is presented which reproduces observed human behavior during grasp-and-lift tasks. The algorithm uses tactile information from the sensor to dynamically adjust the grasp force during lift. It is assumed that there is no a priori knowledge about the object to be manipulated. The effects of different arm/hand postures and object surfaces is explored. Finally, the use of sensory data to detect unexpected object motion and to signal transitions between manipulation phases--with the coincident triggering of new motor programs--is investigated

  6. I, Quantum Robot: Quantum Mind control on a Quantum Computer

    OpenAIRE

    Zizzi, Paola

    2008-01-01

    The logic which describes quantum robots is not orthodox quantum logic, but a deductive calculus which reproduces the quantum tasks (computational processes, and actions) taking into account quantum superposition and quantum entanglement. A way toward the realization of intelligent quantum robots is to adopt a quantum metalanguage to control quantum robots. A physical implementation of a quantum metalanguage might be the use of coherent states in brain signals.

  7. Intelligent viewing control for robotic and automation systems

    Science.gov (United States)

    Schenker, Paul S.; Peters, Stephen F.; Paljug, Eric D.; Kim, Won S.

    1994-10-01

    We present a new system for supervisory automated control of multiple remote cameras. Our primary purpose in developing this system has been to provide capability for knowledge- based, `hands-off' viewing during execution of teleoperation/telerobotic tasks. The reported technology has broader applicability to remote surveillance, telescience observation, automated manufacturing workcells, etc. We refer to this new capability as `Intelligent Viewing Control (IVC),' distinguishing it from a simple programmed camera motion control. In the IVC system, camera viewing assignment, sequencing, positioning, panning, and parameter adjustment (zoom, focus, aperture, etc.) are invoked and interactively executed by real-time by a knowledge-based controller, drawing on a priori known task models and constraints, including operator preferences. This multi-camera control is integrated with a real-time, high-fidelity 3D graphics simulation, which is correctly calibrated in perspective to the actual cameras and their platform kinematics (translation/pan-tilt). Such merged graphics- with-video design allows the system user to preview and modify the planned (`choreographed') viewing sequences. Further, during actual task execution, the system operator has available both the resulting optimized video sequence, as well as supplementary graphics views from arbitrary perspectives. IVC, including operator-interactive designation of robot task actions, is presented to the user as a well-integrated video-graphic single screen user interface allowing easy access to all relevant telerobot communication/command/control resources. We describe and show pictorial results of a preliminary IVC system implementation for telerobotic servicing of a satellite.

  8. Transferring human impedance regulation skills to robots

    CERN Document Server

    Ajoudani, Arash

    2016-01-01

    This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

  9. Adaptive Command Filtered Integrated Guidance and Control for Hypersonic Vehicle with Magnitude, Rate and Bandwidth Constraints

    Directory of Open Access Journals (Sweden)

    Wang Liang

    2018-01-01

    Full Text Available This paper proposes a novel integrated guidance and control (IGC method for hypersonic vehicle in terminal phase. Firstly, the system model is developed with a second order actuator dynamics. Then the back-stepping controller is designed hierarchically with command filters, where the first order command filters are implemented to construct the virtual control input with ideal states predicted by an adaptive estimator, and the nonlinear command filter is designed to produce magnitude, rate and bandwidth limited control surface deflection finally tracked by a terminal sliding mode controller with finite convergence time. Through a series of 6-DOF numerical simulations, it’s indicated that the proposed method successfully cancels out the large aerodynamics coefficient uncertainties and disturbances in hypersonic flight under limited control surface deflection. The contribution of this paper lies in the application and determination of nonlinear integrated design of guidance and control system for hypersonic vehicle.

  10. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1989-01-01

    Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

  11. Applying virtual reality to remote control of mobile robot

    Directory of Open Access Journals (Sweden)

    Chen Chin-Shan

    2017-01-01

    Full Text Available The purpose of this research is based on virtual reality to assisted pick and place tasks. Virtual reality can be utilized to control remote robot for pick and place element. The operator monitored and controlled the situation information of working site by Human Machine Interface. Therefore, we worked in harsh or dangerous environments that thing can be avoided. The procedure to operate mobile robot in virtual reality describes as follow: An experiment site with really experimental equipment is first established. Then, the experimental equipment and scene modeling are input to virtual reality for establishing a environment similar to the reality. Finally, the remote mobile robot is controlled to operate pick and place tasks through wireless communication by the object operation in virtual reality. The robot consists of a movable robot platform and robotic arm. The virtual reality is constructed by EON software; the Human Machine Interface is established by Visual Basic. The wireless connection is equipped the wireless Bluetooth, which is set the PC and PLC controller. With experimental tests to verify the robot in virtual reality and the wireless remote control, the robot could be operated and controlled to successfully complete pick and place tasks in reality by Human Machine Interface.

  12. Introduction to Command, Control and Communications (C3) through comparative case analysis

    OpenAIRE

    Berg, Scott A.

    1990-01-01

    Approved for public rerlease; distribution is unlimited This thesis contains material for the course, Introduction to Command, Control and Communications (C3). The first part of the thesis describes selected principles and concepts of C3 related to communication management, interoperability, command structure and standardization. The Crisis Action System is described emphasizing the roles and functions of the Joint Chiefs of Staff and the Office of the Secretary of Defense. A discussion of...

  13. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

    1998-10-06

    In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

  14. Behavior coordination of mobile robotics using supervisory control of fuzzy discrete event systems.

    Science.gov (United States)

    Jayasiri, Awantha; Mann, George K I; Gosine, Raymond G

    2011-10-01

    In order to incorporate the uncertainty and impreciseness present in real-world event-driven asynchronous systems, fuzzy discrete event systems (DESs) (FDESs) have been proposed as an extension to crisp DESs. In this paper, first, we propose an extension to the supervisory control theory of FDES by redefining fuzzy controllable and uncontrollable events. The proposed supervisor is capable of enabling feasible uncontrollable and controllable events with different possibilities. Then, the extended supervisory control framework of FDES is employed to model and control several navigational tasks of a mobile robot using the behavior-based approach. The robot has limited sensory capabilities, and the navigations have been performed in several unmodeled environments. The reactive and deliberative behaviors of the mobile robotic system are weighted through fuzzy uncontrollable and controllable events, respectively. By employing the proposed supervisory controller, a command-fusion-type behavior coordination is achieved. The observability of fuzzy events is incorporated to represent the sensory imprecision. As a systematic analysis of the system, a fuzzy-state-based controllability measure is introduced. The approach is implemented in both simulation and real time. A performance evaluation is performed to quantitatively estimate the validity of the proposed approach over its counterparts.

  15. Repetitive motion planning and control of redundant robot manipulators

    CERN Document Server

    Zhang, Yunong

    2013-01-01

    Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

  16. Integrated multi-sensory control of space robot hand

    Science.gov (United States)

    Bejczy, A. K.; Kan, E. P.; Killion, R. R.

    1985-01-01

    Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

  17. The Next Generation of Ground Operations Command and Control; Scripting in C no. and Visual Basic

    Science.gov (United States)

    Ritter, George; Pedoto, Ramon

    2010-01-01

    Scripting languages have become a common method for implementing command and control solutions in space ground operations. The Systems Test and Operations Language (STOL), the Huntsville Operations Support Center (HOSC) Scripting Language Processor (SLP), and the Spacecraft Control Language (SCL) offer script-commands that wrap tedious operations tasks into single calls. Since script-commands are interpreted, they also offer a certain amount of hands-on control that is highly valued in space ground operations. Although compiled programs seem to be unsuited for interactive user control and are more complex to develop, Marshall Space flight Center (MSFC) has developed a product called the Enhanced and Redesign Scripting (ERS) that makes use of the graphical and logical richness of a programming language while offering the hands-on and ease of control of a scripting language. ERS is currently used by the International Space Station (ISS) Payload Operations Integration Center (POIC) Cadre team members. ERS integrates spacecraft command mnemonics, telemetry measurements, and command and telemetry control procedures into a standard programming language, while making use of Microsoft's Visual Studio for developing Visual Basic (VB) or C# ground operations procedures. ERS also allows for script-style user control during procedure execution using a robust graphical user input and output feature. The availability of VB and C# programmers, and the richness of the languages and their development environment, has allowed ERS to lower our "script" development time and maintenance costs at the Marshall POIC.

  18. Walking Robots Dynamic Control Systems on an Uneven Terrain

    Directory of Open Access Journals (Sweden)

    MUNTEANU, M. S.

    2010-05-01

    Full Text Available The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles.

  19. Development of the first force-controlled robot for otoneurosurgery.

    Science.gov (United States)

    Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

    2003-03-01

    In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

  20. Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

    2013-01-01

    A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

  1. Advances in soft computing, intelligent robotics and control

    CERN Document Server

    Fullér, Robert

    2014-01-01

    Soft computing, intelligent robotics and control are in the core interest of contemporary engineering. Essential characteristics of soft computing methods are the ability to handle vague information, to apply human-like reasoning, their learning capability, and ease of application. Soft computing techniques are widely applied in the control of dynamic systems, including mobile robots. The present volume is a collection of 20 chapters written by respectable experts of the fields, addressing various theoretical and practical aspects in soft computing, intelligent robotics and control. The first part of the book concerns with issues of intelligent robotics, including robust xed point transformation design, experimental verification of the input-output feedback linearization of differentially driven mobile robot and applying kinematic synthesis to micro electro-mechanical systems design. The second part of the book is devoted to fundamental aspects of soft computing. This includes practical aspects of fuzzy rule ...

  2. [Haptic tracking control for minimally invasive robotic surgery].

    Science.gov (United States)

    Xu, Zhaohong; Song, Chengli; Wu, Wenwu

    2012-06-01

    Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

  3. Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.

    Science.gov (United States)

    Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Portillo, Eva; Jung, Je Hyung

    2018-03-05

    In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

  4. Fuzzy controller for better tennis ball robot | Nguyen | Journal of ...

    African Journals Online (AJOL)

    This paper aims at designing a tennis ball robot as a training facility for tennis players. The robot is built with fuzzy controller which provides proper techniques for the players to gain practical experience as well as technical skills; thus, it can effectively serve the community and train athletes in the high-performance sport.

  5. Remote control and motion coordination of mobile robots

    NARCIS (Netherlands)

    Alvarez Aguirre, A.

    2011-01-01

    As robots destined for personal and professional applications advance towards becoming part of our daily lives, the importance and complexity of the control algorithms which regulate them should not be underestimated. This thesis is related to two fields within robotics which are of major importance

  6. Virtual Sensors for Advanced Controllers in Rehabilitation Robotics

    Directory of Open Access Journals (Sweden)

    Aitziber Mancisidor

    2018-03-01

    Full Text Available In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error. Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

  7. Fuzzy logic controller for stabilization of biped robot gait

    Directory of Open Access Journals (Sweden)

    Ryadchikov I.V.

    2018-01-01

    Full Text Available The article centers round the problem of stabilization of biped robot gait through smoothing out the jumps of first and second order derivatives of a biped robot control vector using the fuzzy logic approach. The structure of a composite Takagi-Sugeno fuzzy logic controller developed by the authors is presented. The simulation study of a robot gait with climbing an obstacle is carried out and the results provided in the article showed that the developed controller performed significantly better than the analytical formula model in terms of smoothing out the derivatives of the control vector.

  8. Robust Control Design of Wheeled Inverted Pendulum Assistant Robot

    Institute of Scientific and Technical Information of China (English)

    Magdi S.Mahmoud; Mohammad T.Nasir

    2017-01-01

    This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator(LQR), linear quadratic Gaussian control(LQG), H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results.

  9. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Hamed Navabi

    2017-01-01

    Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

  10. Direct adaptive control of a PUMA 560 industrial robot

    Science.gov (United States)

    Seraji, Homayoun; Lee, Thomas; Delpech, Michel

    1989-01-01

    The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

  11. MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

    Directory of Open Access Journals (Sweden)

    Kiattisin Kanjanawanishkul

    2015-01-01

    Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

  12. Four Degree Freedom Robot Arm with Fuzzy Neural Network Control

    Directory of Open Access Journals (Sweden)

    Şinasi Arslan

    2013-01-01

    Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.

  13. Human-Derived Disturbance Estimation and Compensation (DEC) Method Lends Itself to a Modular Sensorimotor Control in a Humanoid Robot.

    Science.gov (United States)

    Lippi, Vittorio; Mergner, Thomas

    2017-01-01

    The high complexity of the human posture and movement control system represents challenges for diagnosis, therapy, and rehabilitation of neurological patients. We envisage that engineering-inspired, model-based approaches will help to deal with the high complexity of the human posture control system. Since the methods of system identification and parameter estimation are limited to systems with only a few DoF, our laboratory proposes a heuristic approach that step-by-step increases complexity when creating a hypothetical human-derived control systems in humanoid robots. This system is then compared with the human control in the same test bed, a posture control laboratory. The human-derived control builds upon the identified disturbance estimation and compensation (DEC) mechanism, whose main principle is to support execution of commanded poses or movements by compensating for external or self-produced disturbances such as gravity effects. In previous robotic implementation, up to 3 interconnected DEC control modules were used in modular control architectures separately for the sagittal plane or the frontal body plane and successfully passed balancing and movement tests. In this study we hypothesized that conflict-free movement coordination between the robot's sagittal and frontal body planes emerges simply from the physical embodiment, not necessarily requiring a full body control. Experiments were performed in the 14 DoF robot Lucy Posturob (i) demonstrating that the mechanical coupling from the robot's body suffices to coordinate the controls in the two planes when the robot produces movements and balancing responses in the intermediate plane, (ii) providing quantitative characterization of the interaction dynamics between body planes including frequency response functions (FRFs), as they are used in human postural control analysis, and (iii) witnessing postural and control stability when all DoFs are challenged together with the emergence of inter

  14. Method and apparatus for automatic control of a humanoid robot

    Science.gov (United States)

    Abdallah, Muhammad E (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Reiland, Matthew J (Inventor); Sanders, Adam M (Inventor)

    2013-01-01

    A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

  15. Data acquisition and command system for use with a microprocessor-based control chassis

    International Nuclear Information System (INIS)

    Halbig, J.K.; Klosterbuer, S.F.; Martinez, V.A. Jr.

    1980-01-01

    The Pion Generation for Medical Irradiations (PIGMI) program at the Los Alamos Scientific Laboratory is developing the technology to build smaller, less expensive, and more reliable proton linear accelerators for medical applications, and has designed a powerful, simple, inexpensive, and reliable control and data acquisition system that is central to the program development. The system is a NOVA-3D minicomputer interfaced to several outlying microprocessor-based controllers, which accomplish control and data acquisition through data I/O chasis. The equipment interface chassis, which can issue binary commands, read binary data, issue analog commands, and read timed and untimed analog data is described

  16. Nonlinear control methods for planar carangiform robot fish locomotion

    OpenAIRE

    Morgansen, Kristi A.; Duindam, Vincent; Mason, Richard J.; Burdick, Joel W.; Murray, Richard M.

    2001-01-01

    Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by ex...

  17. Interactive animated displayed of man-controlled and autonomous robots

    International Nuclear Information System (INIS)

    Crane, C.D. III; Duffy, J.

    1986-01-01

    An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

  18. Dynamic Modelling and Adaptive Traction Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    A. Albagul

    2004-09-01

    Full Text Available Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as ‘Low’ level controller. The second level is developed to take care of path planning and trajectory generation.

  19. Live video monitoring robot controlled by web over internet

    Science.gov (United States)

    Lokanath, M.; Akhil Sai, Guruju

    2017-11-01

    Future is all about robots, robot can perform tasks where humans cannot, Robots have huge applications in military and industrial area for lifting heavy weights, for accurate placements, for repeating the same task number of times, where human are not efficient. Generally robot is a mix of electronic, electrical and mechanical engineering and can do the tasks automatically on its own or under the supervision of humans. The camera is the eye for robot, call as robovision helps in monitoring security system and also can reach into the places where the human eye cannot reach. This paper presents about developing a live video streaming robot controlled from the website. We designed the web, controlling for the robot to move left, right, front and back while streaming video. As we move to the smart environment or IoT (Internet of Things) by smart devices the system we developed here connects over the internet and can be operated with smart mobile phone using a web browser. The Raspberry Pi model B chip acts as heart for this system robot, the sufficient motors, surveillance camera R pi 2 are connected to Raspberry pi.

  20. Detection of Botnet Command and Control Traffic by the Multistage Trust Evaluation of Destination Identifiers

    Directory of Open Access Journals (Sweden)

    Pieter Burghouwt

    2015-10-01

    Full Text Available Network-based detection of botnet Command and Control communication is a difficult task if the traffic has a relatively low volume and if popular protocols, such as HTTP, are used to resemble normal traffic. We present a new network-based detection approach that is capable of detecting this type of Command and Control traffic in an enterprise network by estimating the trustworthiness of the traffic destinations. If the destination identifier of a traffic flow origins directly from: human input, prior traffic from a trusted destination, or a defined set of legitimate applications, the destination is trusted and its associated traffic is classified as normal. Advantages of this approach are: the ability of zero day malicious traffic detection, low exposure to malware by passive host-external traffic monitoring, and the applicability for real-time filtering. Experimental evaluation demonstrates successful detection of diverse types of Command and Control Traffic.

  1. Contribution to control of robotics structures and dynamic behaviour

    International Nuclear Information System (INIS)

    Gilliot, Jean-Marie

    1990-01-01

    The scope of this thesis is the simulation of the dynamics of complex rigid multi-body systems involved in robotics, in order to control them. In the first stage, methods for obtaining equations and models required for simulation and control purposes are proposed and discussed: - determination of constraint equations using the jacobian matrices, - elaboration of direct and inverse dynamics of manipulators. The second part of this thesis deals with the different concepts and components involved in the setting of simulation systems for Robotics Application Programs: models, emulators and the software development environment. The control algorithms are then introduced as a particular class of robotics application programs. A simulator has been developed, allowing the calculation and the visualisation of robot motions, driven by generalized torques. Some examples of control programs generating such control torques are then presented to illustrate the use of the simulator. (author) [fr

  2. Multilateral Telecoordinated Control of Multiple Robots With Uncertain Kinematics.

    Science.gov (United States)

    Zhai, Di-Hua; Xia, Yuanqing

    2017-06-06

    This paper addresses the telecoordinated control of multiple robots in the simultaneous presence of asymmetric time-varying delays, nonpassive external forces, and uncertain kinematics/dynamics. To achieve the control objective, a neuroadaptive controller with utilizing prescribed performance control and switching control technique is developed, where the basic idea is to employ the concept of motion synchronization in each pair of master-slave robots and among all slave robots. By using the multiple Lyapunov-Krasovskii functionals method, the state-independent input-to-output practical stability of the closed-loop system is established. Compared with the previous approaches, the new design is straightforward and easier to implement and is applicable to a wider area. Simulation results on three pairs of three degrees-of-freedom robots confirm the theoretical findings.

  3. Study of Inverted Pendulum Robot Using Fuzzy Servo Control Method

    Directory of Open Access Journals (Sweden)

    Dazhong Wang

    2012-09-01

    Full Text Available The inverted pendulum robot is a classical problem in controls. The inherit instabilities in the setup make it a natural target for a control system. Inverted pendulum robot is suitable to use for investigation and verification of various control methods for dynamic systems. Maintaining an equilibrium position of the pendulum pointing up is a challenge as this equilibrium position is unstable. As the inverted pendulum robot system is nonlinear it is well-suited to be controlled by fuzzy logic. In this paper, Lagrange method has been applied to develop the mathematical model of the system. The objective of the simulation to be shown using the fuzzy control method can stabilize the nonlinear system of inverted pendulum robot.

  4. Fractal gene regulatory networks for robust locomotion control of modular robots

    DEFF Research Database (Denmark)

    Zahadat, Payam; Christensen, David Johan; Schultz, Ulrik Pagh

    2010-01-01

    Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed and the ......Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed...

  5. Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS

    Directory of Open Access Journals (Sweden)

    Troy Dale Kelley

    2006-09-01

    Full Text Available This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.

  6. Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS

    Directory of Open Access Journals (Sweden)

    Troy Dale Kelley

    2008-11-01

    Full Text Available This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.

  7. Tactical Command and Control in the Combined Arms Battalion Task Force,

    Science.gov (United States)

    1988-03-08

    described as [ •follows. -.. Acquire information in the basic categories of mission, enemy, terrain, and troops available on a * continual basis through a...became the basic unit." 55 A study by Dr. Gabel describes a wide range of organizational and -*"" control structures which were ultimately used to...FreLelonolSystell each orce evel Commander * Procedures/acioa otrlS a / eCommunication $ 0’ Automation/// _. Other Notion’$ Command *e Facilities ’/ a nd Control

  8. A discussion on the resilience of command and control regulation within regulatory behavior theories

    Directory of Open Access Journals (Sweden)

    K.P.V. O’Sullivan

    2012-03-01

    Full Text Available This paper provides the first insights into the factors that may drive the resilience of command and control regulation in modern policy making. We show how the forces of uncertainty and internal dynamics among customers, producers and regulators are the most dominate factors preventing the adoption of non-CAC regulations. Using case study evidence of internet regulation, we then integrate our analysis into the most prominent regulatory choice behavior theories and illustrate that regardless of the theory, these factors can help explain the dominance of command and control as a choice of regulation.

  9. The Next Generation of Ground Operations Command and Control; Scripting in C Sharp and Visual Basic

    Science.gov (United States)

    Ritter, George; Pedoto, Ramon

    2010-01-01

    This slide presentation reviews the use of scripting languages in Ground Operations Command and Control. It describes the use of scripting languages in a historical context, the advantages and disadvantages of scripts. It describes the Enhanced and Redesigned Scripting (ERS) language, that was designed to combine the features of a scripting language and the graphical and IDE richness of a programming language with the utility of scripting languages. ERS uses the Microsoft Visual Studio programming environment and offers custom controls that enable an ERS developer to extend the Visual Basic and C sharp language interface with the Payload Operations Integration Center (POIC) telemetry and command system.

  10. Force control of a robot for surface contamination detection

    International Nuclear Information System (INIS)

    Petterson, B.J.; Jones, J.F.

    1987-01-01

    A system is under development at Sandia National Laboratories for use in understanding the issues relating to automated robotic handling of spent nuclear fuel shipping casks. The goal of robotic handling is reduction of personnel radiation exposure at the proposed geologic repositories. One of the major technology development areas has been the integration of sensors into the control of the robot system to allow operation in semi-structured environments. In particular, a multiaxis force sensor is used to make robot trajectory corrections based on the contact force between the robot and workpiece. This force feedback system allows contact swipes (smears) to be made on the cask surface in a repeatable manner. 8 refs., 3 figs

  11. Automating the Incremental Evolution of Controllers for Physical Robots

    DEFF Research Database (Denmark)

    Faina, Andres; Jacobsen, Lars Toft; Risi, Sebastian

    2017-01-01

    the evolution of digital objects.…” The work presented here investigates how fully autonomous evolution of robot controllers can be realized in hardware, using an industrial robot and a marker-based computer vision system. In particular, this article presents an approach to automate the reconfiguration...... of the test environment and shows that it is possible, for the first time, to incrementally evolve a neural robot controller for different obstacle avoidance tasks with no human intervention. Importantly, the system offers a high level of robustness and precision that could potentially open up the range...

  12. Traction Control Study for a Scaled Automated Robotic Car

    OpenAIRE

    Morton, Mark A.

    2004-01-01

    This thesis presents the use of sliding mode control applied to a 1/10th scale robotic car to operate at a desired slip. Controlling the robot car at any desired slip has a direct relation to the amount of force that is applied to the driving wheels based on road surface conditions. For this model, the desired traction/slip is maintained for a specific surface which happens to be a Lego treadmill platform. How the platform evolved and the robot car was designed are also covered. To parame...

  13. Passivity-based control and estimation in networked robotics

    CERN Document Server

    Hatanaka, Takeshi; Fujita, Masayuki; Spong, Mark W

    2015-01-01

    Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques,  the authors provide experimental case studies on testbeds of robotic systems  including networked haptic devices, visual robotic systems,  robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control ...

  14. Evolutional development of controlling software for agricultural vehicles and robots

    DEFF Research Database (Denmark)

    Nakanishi, Tsuneo; Jæger-Hansen, Claes Lund; Griepentrog, Hans-Werner

    Agricultural vehicles and robots expand their controlling software in size and complexity for their increasing functions. Due to repeated, ad hoc addition and modification, software gets structurally corrupted and becomes low performing, resource consuming and unreliable. This paper presents...

  15. Tool position tracking control of a nonlinear uncertain flexible robot ...

    Indian Academy of Sciences (India)

    Robot manipulators have become progressively important in the field of flexible ... this research, tracking of tool position and minimization of motor torque are ...... and Menhaj M B 2013a Position and current control of a permanent-magnet syn-.

  16. Marine Tactical Command and Control System (MTACCS) Field Development System-1 (FDS-1) assessment: Final report

    Energy Technology Data Exchange (ETDEWEB)

    Avery, L.W.; Hunt, S.T.; Savage, S.F. (Pacific Northwest Lab., Richland, WA (United States)); McLaughlin, P.D.; Shepdard, A.P.; Worl, J.C. (Battelle Seattle Research Center, WA (United States))

    1992-04-01

    The United State Marine Corps (USMC) is continuing the development and fielding of the Marine Corps Tactical Command and Control System (MTACCS), a system which exists in varying states of development, fielding, or modernization. MTACCS is currently composed of the following components: Tactical Combat Operations System (TCO) for ground command and control (C2), Intelligence Analysis System (IAS) with a Genser terminal connected to a TCO workstation for intelligence C2, Marine Integrated Personnel System (MIPS) and a TCO workstation using the Marine Combat Personnel System (MCPERS) software for personnel C2, Marine Integrated Logistics System (MILOGS) which is composed of the Landing Force Asset Distribution System (LFADS), the Marine Air-Ground Task Force (MAGTF) II, and a TCO terminal using the Marine Combat Logistics System (MCLOG) for logistics C2, Marine Corps Fire Support System (MCFSS) for fire support C2, and Advanced Tactical Air Command Central (ATACC) and the Improved Direct Air Support Central for aviation C2.

  17. Year 2000 Compliance of Selected Mission Critical Command, Control, and Communications Systems Managed by The Defense Information Systems Agency

    National Research Council Canada - National Science Library

    1999-01-01

    ...) has adequately planned for and managed year 2000 conversion risks to avoid undue disruption to selected mission critical command, control, and communications systems used in support of Unified...

  18. Design and Implementation of a Brain Computer Interface System for Controlling a Robotic Claw

    Science.gov (United States)

    Angelakis, D.; Zoumis, S.; Asvestas, P.

    2017-11-01

    The aim of this paper is to present the design and implementation of a brain-computer interface (BCI) system that can control a robotic claw. The system is based on the Emotiv Epoc headset, which provides the capability of simultaneous recording of 14 EEG channels, as well as wireless connectivity by means of the Bluetooth protocol. The system is initially trained to decode what user thinks to properly formatted data. The headset communicates with a personal computer, which runs a dedicated software application, implemented under the Processing integrated development environment. The application acquires the data from the headset and invokes suitable commands to an Arduino Uno board. The board decodes the received commands and produces corresponding signals to a servo motor that controls the position of the robotic claw. The system was tested successfully on a healthy, male subject, aged 28 years. The results are promising, taking into account that no specialized hardware was used. However, tests on a larger number of users is necessary in order to draw solid conclusions regarding the performance of the proposed system.

  19. Design and control of a pneumatic musculoskeletal biped robot.

    Science.gov (United States)

    Zang, Xizhe; Liu, Yixiang; Liu, Xinyu; Zhao, Jie

    2016-04-29

    Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

  20. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

    Directory of Open Access Journals (Sweden)

    Ismail Ben Abdallah

    2016-01-01

    Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

  1. Controlling robot arm with the mind

    National Science Foundation

    2017-05-31

    Full Text Available Research test subjects at the University of Minnesota who were fitted with a specialized noninvasive brain cap were able to move a robotic arm just by imagining moving their own arms.

  2. A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

    Directory of Open Access Journals (Sweden)

    Juan A. Corrales

    2011-10-01

    Full Text Available Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.

  3. Controlling Tensegrity Robots through Evolution using Friction based Actuation

    Science.gov (United States)

    Kothapalli, Tejasvi; Agogino, Adrian K.

    2017-01-01

    Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

  4. DARC: Next generation decentralized control framework for robot applications

    DEFF Research Database (Denmark)

    Kjærgaard, Morten; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry....... It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness....

  5. Alternative Motion Control for Educational Biped BRAT Robots

    Directory of Open Access Journals (Sweden)

    Levente Barabas

    2015-12-01

    Full Text Available In this paper an alternative control solution will be proposed for an educational biped BRAT robot by replacing its SSC-32 servomotor controller with an Arduino R3 development board. Also we will be approaching the problem of adapting the existing electronic circuit to the new requirements and proposing a new application by adding an ultrasonic distance sensor in order to increase the versatility of the robot and make it capable to interact with its environment.

  6. Robotic Hand Controlling Based on Flexible Sensor

    OpenAIRE

    Bilgin, Süleyman; Üser, Yavuz; Mercan, Muhammet

    2016-01-01

    Today's technology has increased the interest in robotic systems andincrease the number of studies realized in this area.  There are many studies on robotic systems inseveral fields to facilitate human life in the literature. In this study, arobot hand is designed to repeat finger movements depending upon flexiblesensors mounted on any wearable glove. In the literature, various sensors thatdetect the finger movement are used. The sensor that detects the angle of thefingers has b...

  7. Fast Grasp Contact Computation for a Serial Robot

    Science.gov (United States)

    Shi, Jianying (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A. (Inventor)

    2015-01-01

    A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

  8. An ultrasonic sensor controller for mapping and servo control in robotic systems

    International Nuclear Information System (INIS)

    Drotning, W.D.; Garcia, P. Jr.

    1993-03-01

    An ultrasonic sensor controller has been developed and applied in a variety of robotic systems for operation in hazardous environments. The controller consists of hardware and software that control multiple ultrasonic range sensors and provide workspace information to robot controllers for rapid, safe, and reliable operation in hazardous and remote environments. The hardware consists of a programmable multichannel controller that resides on a VMEbus for high speed communication to a multiprocessor architecture. The sensor controller has been used in a number of applications, which include providing high precision range information for proximity servo control of robots, and performing surface and obstacle mapping functions for safe path planning of robots in unstructured environments

  9. Development of 6-DOF painting robot control system

    Science.gov (United States)

    Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang

    2017-01-01

    With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom)robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. Control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

  10. Lattice Automata for Control of Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Støy, Kasper

    2015-01-01

    are extreme versatility and robustness. The organisation of self-reconfigurable robots in a lattice structure and the emphasis on local communication between modules mean that lattice automata are a useful basis for control of self-reconfigurable robots. However, there are significant differences which arise...... mainly from the physical nature of self-reconfigurable robots as opposed to the virtual nature of lattice automata. The problems resulting from these differences are mutual exclusion, handling motion constraints of modules, and unrealistic assumption about global, spatial orientation. Despite...... these problems the self-reconfigurable robot community has successfully applied lattice automata to simple control problems. However, for more complex problems hybrid solutions based on lattice automata and distributed algorithms are used. Hence, lattice automata have shown to have potential for the control...

  11. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  12. Photovoltaic System Equipped with Digital Command Control and Acquisition

    Directory of Open Access Journals (Sweden)

    Khalil Kassmi

    2013-07-01

    Full Text Available In this paper, we present results concerning the design, the realization and the characterization of a photovoltaic system (PV, equipped with a digital controls: Power Point Tracking (MPPT, charge/discharge lead acid batteries, sun tracker and supervision. These different functions are performed with a microcontroller that has capabilities and functions to the reliability of PV systems (signal generation Pulses Width Modulation (PWM, speed etc.. Concerning the MPPT control operation, we improved the accuracy and reliability of research by improving the search algorithm “Hill Climbing” taking into account the optimal operation of PV panels depending on weather conditions (temperature and light.The experiment of each block shows that the MPPT control converges instantly the operating point of the PV panels around the maximum power point, independently of sudden changes of the illumination or the load. The control blocks charge/discharge battery and sun tracking show good control of charge/discharge lead acid batteries and the need of sun tracker to increase the power supplied by the PV panel. By using the improved MPPT control, loss of power supplied by the PV panels are very low (below 5%.

  13. Motion control for a walking companion robot with a novel human–robot interface

    Directory of Open Access Journals (Sweden)

    Yunqi Lv

    2016-09-01

    Full Text Available A walking companion robot is presented for rehabilitation from dyskinesia of lower limbs in this article. A new human–robot interface (HRI is designed which adopts one-axis force sensor and potentiometer connector to detect the motion of the user. To accompany in displacement and angle between the user and the robot precisely in real time, the common motions are classified into two elemental motion states. With distinction method of motion states, a classification scheme of motion control is adopted. The mathematical model-based control method is first introduced and the corresponding control systems are built. Due to the unavoidable deviation of the mathematical model-based control method, a force control method is proposed and the corresponding control systems are built. The corresponding simulations demonstrate that the efficiency of the two proposed control methods. The experimental data and paths of robot verify the two control methods and indicate that the force control method can better satisfy the user’s requirements.

  14. Operator-generated command language for computer control of Doublet III

    International Nuclear Information System (INIS)

    Drobnis, D.; Petersen, P.

    1982-02-01

    The Control System for Doublet III consists of a medium-sized minicomputer system, with several keyboards and color alphanumeric CRTs for interactive operator interface to a large distributed CAMAC I/O system. Under normal operating conditions, however, all of the sequential and decision-making operations necessary to prepare each tokamak shot are performed directly by the computer, executing a set of Procedures coded in a convenient command language. Most of these Procedures have been developed by the Doublet III operators themselves, and are maintained, altered, and augmented as required without programmer attention. In effect, the Procedures have become a high-level tokamak Command Language

  15. Input shaping control with reentry commands of prescribed duration

    Directory of Open Access Journals (Sweden)

    Valášek M.

    2008-12-01

    Full Text Available Control of flexible mechanical structures often deals with the problem of unwanted vibration. The input shaping is a feedforward method based on modification of the input signal so that the output performs the demanded behaviour. The presented approach is based on a finite-time Laplace transform. It leads to no-vibration control signal without any limitations on its time duration because it is not strictly connected to the system resonant frequency. This idea used for synthesis of control input is extended to design of dynamical shaper with reentry property that transform an arbitrary input signal to the signal that cause no vibration. All these theoretical tasks are supported by the results of simulation experiments.

  16. Artificial intelligence and information-control systems of robots - 87

    International Nuclear Information System (INIS)

    Plander, I.

    1987-01-01

    Independent research areas of artificial intelligence represent the following problems: automatic problem solving and new knowledge discovering, automatic program synthesis, natural language, picture and scene recognition and understanding, intelligent control systems of robots equipped with sensoric subsystems, dialogue of two knowledge systems, as well as studying and modelling higher artificial intelligence attributes, such as emotionality and personality. The 4th Conference draws on the problems treated at the preceding Conferences, and presents the most recent knowledge on the following topics: theoretical problems of artificial intelligence, knowledge-based systems, expert systems, perception and pattern recognition, robotics, intelligent computer-aided design, special-purpose computer systems for artificial intelligence and robotics

  17. $36 Million Command and Control Facility at Camp Leatherneck, Afghanistan: Unwanted, Unneeded, and Unused

    Science.gov (United States)

    2015-05-01

    Memorandum of Major Danisha L. Morris , JA, Chief, Contract and Fiscal Law (June 29, 2010). SIGAR-15-57-SP Report: $36 Million Command and Control...Facility at Camp Leatherneck, Afghanistan Page 60 EXHIBIT 10 -----Original Message----- From: Mills LtGen Richard P Sent: Tuesday , February 11

  18. The role of hosting providers in fighting command and control infrastructure of financial malware

    NARCIS (Netherlands)

    Tajalizadehkhoob, S.; Hernandez Ganan, C.; Noroozian, A.; van Eeten, M.J.G.

    2017-01-01

    A variety of botnets are used in attacks on financial services. Banks and security firms invest a lot of effort in detecting and combating malware-assisted takeover of customer accounts. A critical resource of these botnets is their command-and-control (C&C) infrastructure. Attackers rent or

  19. A Smarter Common Operational Picture : The Application of Cognitive Work Analysis to Naval Command and Control.

    NARCIS (Netherlands)

    Arciszewski, H.F.R.; Greef, T.E. de

    2011-01-01

    During the last ten years significant steps have been made in connecting military command and control systems from different defense forces in joint and combined operations. However, a common operational picture (COP) that provides all actors within the defense organization with sufficient,

  20. Fire Play: ICCARUS--Intelligent Command and Control, Acquisition and Review Using Simulation

    Science.gov (United States)

    Powell, James; Wright, Theo; Newland, Paul; Creed, Chris; Logan, Brian

    2008-01-01

    Is it possible to educate a fire officer to deal intelligently with the command and control of a major fire event he will never have experienced? The authors of this paper believe there is, and present here just one solution to this training challenge. It involves the development of an intelligent simulation based upon computer managed interactive…

  1. A smarter common operational picture : The application of abstraction hierarchies to naval command and control

    NARCIS (Netherlands)

    Arciszewski, H.F.R.; De Greef, T.E.

    2011-01-01

    The last decade shows significant steps in connecting military command and control systems from different defense forces optimizing joint and combined operations. However, a Common Operational Picture (COP) that provides all actors with sufficient, accurate, and timely information is still an

  2. Cities as command and control centres of the world economy: An empirical analysis, 2006–2015

    Directory of Open Access Journals (Sweden)

    Csomós György

    2017-12-01

    Full Text Available As a result of their rapid economic growth, several powerful corporate giants have emerged in developing countries, especially in China, operating not only in the traditional manufacturing sector, but also in high-tech industries and finance. Major cities in developing countries have gradually become important command and control centres of the global economy, and have also become powerful enough to be in the same tier as major cities of developed countries around the world. In this paper, I examine the position of cities as command and control centres on the basis of the power of their headquartered corporations. The result shows that until 2012, New York, London, Tokyo, and Paris; i.e. the global cities, were the leading command and control centres. However, the gap between these global cities and Beijing gradually closed, and by 2015, the Chinese capital outranked all the global cities. The outstanding performance of Beijing-based corporations that operate in financial, energy, and construction services sectors is the driving force behind Beijing’s increasing global power. In addition, the leading position of the global cities as command and control centres has been threatened by the San Francisco-San Jose metropolitan region, a newly emerging economic hub in the United States.

  3. Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot.

    Science.gov (United States)

    Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

    2016-09-22

    Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot's body was confirmed when operators controlled the robot either by performing the desired motion with their body (motion-control) or by employing a brain-computer interface (BCI) that translated motor imagery commands to robot movement (BCI-control). The interesting observation during BCI-control was that the illusion could be induced even with a noticeable delay in the BCI system. Temporal discrepancy has always shown critical weakening effects on body ownership illusions. However the delay-robustness of BOT during BCI-control raised a question about the interaction between the proprioceptive inputs and delayed visual feedback in agency-driven illusions. In this work, we compared the intensity of BOT illusion for operators in two conditions; motion-control and BCI-control. Our results revealed a significantly stronger BOT illusion for the case of BCI-control. This finding highlights BCI's potential in inducing stronger agency-driven illusions by building a direct communication between the brain and controlled body, and therefore removing awareness from the subject's own body.

  4. Hydraulically actuated hexapod robots design, implementation and control

    CERN Document Server

    Nonami, Kenzo; Irawan, Addie; Daud, Mohd Razali

    2014-01-01

    Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likel...

  5. Actuation control of a PiezoMEMS biomimetic robotic jellyfish

    Science.gov (United States)

    Alejandre, Alvaro; Olszewski, Oskar; Jackson, Nathan

    2017-06-01

    Biomimetic micro-robots try to mimic the motion of a living system in the form of a synthetically developed microfabricated device. Dynamic motion of living systems have evolved through the years, but trying to mimic these motions is challenging. Micro-robotics are particular challenging as the fabrication of devices and controlling the motion in 3 dimensions is difficult. However, micro-scale robotics have potential to be used in a wide range of applications. MEMS based robots that can move and function in a liquid environment is of particular interest. This paper describes the development of a piezoMEMS based device that mimics the movement of a jellyfish. The paper focuses on the development of a finite element model that investigates a method of controlling the individual piezoelectric beams in order to create a jet propulsion motion, consisting of a quick excitation pulse followed by a slow recovery pulse in order to maximize thrust and velocity. By controlling the individual beams or legs of the jellyfish robot the authors can control the robot to move precisely in 3 dimensions.

  6. Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

    Science.gov (United States)

    Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

    2017-08-01

    One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

  7. Self-repairing control for damaged robotic manipulators

    International Nuclear Information System (INIS)

    Eisler, G.R.; Robinett, R.D.; Dohrmann, C.R.; Driessen, B.J.

    1997-03-01

    Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program

  8. Locomotor Sub-functions for Control of Assistive Wearable Robots

    OpenAIRE

    Sharbafi, Maziar A.; Seyfarth, Andre; Zhao, Guoping

    2017-01-01

    A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated:...

  9. Work organisation and quality control in a welding robotic cell

    OpenAIRE

    Moniz, António

    1993-01-01

    In this paper is analyzed the work organization and the forms of quality control in a robotic welding station in a company of office equipment and metal components manufacturing. The robotic cell is recent and works in two shifts. Quality and production rationalization implied in this firms the adoption of a strategy of organization of teamwork, and it is supported the collaborative tools to decrease the possibilities for errors and to improve means and methods of manufacturing. The analysis ...

  10. Human Walk Modeled by PCPG to Control a Lower Limb Neuroprosthesis by High-Level Commands

    Directory of Open Access Journals (Sweden)

    Matthieu Duvinage

    2012-06-01

    Full Text Available Current active leg prostheses do not integrate the most recent advances in Brain-Computer Interfaces (BCI and bipedal robotics. Moreover, their actuators are seldom driven by the subject’s intention. This paper aims at showing a summary of our current results in the field of human gait rehabilitation. In a first prototype, the main focus was on people suffering from foot drop problems, i.e. people who are unable to lift their feet. However, current work is focusing on a full active ankle orthosis. The approach is threefold: a BCI system, a gait model and an orthosis. Thanks to the BCI system, patients are able to generate high-level commands. Typically, a command could represent a speed modification. Then, a gait model based on a programmable central pattern generator is used to generate the adequate kinematics. Finally, the orthosis is tracking this kinematics when the foot is in the air, whereas, the orthosis is mimicking a spring when the foot is on the ground.

  11. Regulation, control, tele-management; Regulation, commande, telegestion

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-07-01

    In 1998, the French public authorities have started an ambitious energy mastery policy under the auspices of the Agency of environment and energy mastery (Ademe). One aspect of this policy concerns the R and D, industrial development and applications of automation and computerized control to the energy systems of buildings. This RCT 2000 seminar takes stock of the recent advances in this domain 7 years after the previous RCT issue. The first day of the seminar was devoted to new developments in regulation and control (ergonomics aspects, lighting systems, air conditioning in accommodations, solar systems etc..). Stress was put on the revolution expected with the introduction of domestic computer applications and Internet. This first day ended with a precise status of the standardization and future regulatory aspects. The second day was dealing with tele-management and technical management systems for buildings with an analysis of the impact of Internet and of the sensors and actuators capacity in information processing. The consequences and new requirements of the thermal regulation 2000 and the factors of success of a new start-up of the tele-management market in local authorities and social accommodations were analyzed too. (J.S.)

  12. Case studies in configuration control for redundant robots

    Science.gov (United States)

    Seraji, H.; Lee, T.; Colbaugh, R.; Glass, K.

    1989-01-01

    A simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.

  13. Pengembangan Bioelectrical Impedance Sebagai Control Commands Pengaturan Kecepatan Gerak Kursi Roda Dengan Metoda PID Controller

    Directory of Open Access Journals (Sweden)

    Juli Sardi

    2014-09-01

    Full Text Available In the present study, bioimpedance signals of human body was utilized to control speed of a wheelchair movement. A bioimpedance is electrically passive part contained the body tissues. The research is one of alternative solutions for patients with paralysis of the upper and lower limb. Firstly, design of system of the research consisted of bioimpedance measuring instruments and a mechanical design of the wheelchair. Bioimpedance measurement was performed by injecting a sinusoidal current source of 0.5 mArms with a frequency of 50 kHz to muscle tissue (shoulder to obtain the output voltage in the range of 0-5 Vdc. With impulse and manual thresholding methods, the voltage signal was classified into several controls command to adjust the speed and direction of the wheelchair control based on PID Controller. The experimental result of the research was realization of bioimpedance signal that used as a reference to control the direction and speed of the wheelchair with a success rate of 86.7 %. A wheelchair velocity was classified into three types of motion, namely slow, medium and fast. Slow speed has a rated speed of 30 Cm/s, medium speed value speed of 40 Cm/s and fast speed value of 50 Cm/s. The wheelchair can also turn to the left and the right in accordance with the wishes of wheelchair user beside to moving forward.

  14. Controlling legs for locomotion-insights from robotics and neurobiology.

    Science.gov (United States)

    Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

    2015-06-29

    Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

  15. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  16. Command Filtered Adaptive Fuzzy Neural Network Backstepping Control for Marine Power System

    Directory of Open Access Journals (Sweden)

    Xin Zhang

    2014-01-01

    Full Text Available In order to retrain chaotic oscillation of marine power system which is excited by periodic electromagnetism perturbation, a novel command-filtered adaptive fuzzy neural network backstepping control method is designed. First, the mathematical model of marine power system is established based on the two parallel nonlinear model. Then, main results of command-filtered adaptive fuzzy neural network backstepping control law are given. And the Lyapunov stability theory is applied to prove that the system can remain closed-loop asymptotically stable with this controller. Finally, simulation results indicate that the designed controller can suppress chaotic oscillation with fast convergence speed that makes the system return to the equilibrium point quickly; meanwhile, the parameter which induces chaotic oscillation can also be discriminated.

  17. Exception detection and handling in mission control for mobile robots

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...

  18. Everyday robotic action: Lessons from human action control

    Directory of Open Access Journals (Sweden)

    Roy eDe Kleijn

    2014-03-01

    Full Text Available Robots are increasingly capable of performing everyday human activities such as cooking, cleaning, and doing the laundry. This requires the real-time planning and execution of complex, temporally-extended sequential actions under high degrees of uncertainty, which provides many challenges to traditional approaches to robot action control. We argue that important lessons in this respect can be learned from research on human action control. We provide a brief overview of available psychological insights into this issue and focus on four principles that we think could be particularly beneficial for robot control: the integration of symbolic and subsymbolic planning of action sequences, the integration of feedforward and feedback control, the clustering of complex actions into subcomponents, and the contextualization of action-control structures through goal representations.

  19. Robot trajectory tracking with self-tuning predicted control

    Science.gov (United States)

    Cui, Xianzhong; Shin, Kang G.

    1988-01-01

    A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

  20. Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control

    Directory of Open Access Journals (Sweden)

    Elvedin Kljuno

    2010-01-01

    Full Text Available This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. The emphasis of this work is to show that the reference model can be a bipedal walking model with concentrated mass at the center of gravity, which removes the problems related to design of a pseudo-inverse system. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system.

  1. Dynamics and control of robot for capturing objects in space

    Science.gov (United States)

    Huang, Panfeng

    Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base

  2. An Interactive Astronaut-Robot System with Gesture Control

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-01-01

    Full Text Available Human-robot interaction (HRI plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM is employed to recognize hand gestures and particle swarm optimization (PSO algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL have been selected and used to test and validate the performance of the proposed system.

  3. Feasibility of interactive gesture control of a robotic microscope

    Directory of Open Access Journals (Sweden)

    Antoni Sven-Thomas

    2015-09-01

    Full Text Available Robotic devices become increasingly available in the clinics. One example are motorized surgical microscopes. While there are different scenarios on how to use the devices for autonomous tasks, simple and reliable interaction with the device is a key for acceptance by surgeons. We study, how gesture tracking can be integrated within the setup of a robotic microscope. In our setup, a Leap Motion Controller is used to track hand motion and adjust the field of view accordingly. We demonstrate with a survey that moving the field of view over a specified course is possible even for untrained subjects. Our results indicate that touch-less interaction with robots carrying small, near field gesture sensors is feasible and can be of use in clinical scenarios, where robotic devices are used in direct proximity of patient and physicians.

  4. Visual servo control for a human-following robot

    CSIR Research Space (South Africa)

    Burke, Michael G

    2011-03-01

    Full Text Available This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control...

  5. LABORATORY PROCESS CONTROLLER USING NATURAL LANGUAGE COMMANDS FROM A PERSONAL COMPUTER

    Science.gov (United States)

    Will, H.

    1994-01-01

    The complex environment of the typical research laboratory requires flexible process control. This program provides natural language process control from an IBM PC or compatible machine. Sometimes process control schedules require changes frequently, even several times per day. These changes may include adding, deleting, and rearranging steps in a process. This program sets up a process control system that can either run without an operator, or be run by workers with limited programming skills. The software system includes three programs. Two of the programs, written in FORTRAN77, record data and control research processes. The third program, written in Pascal, generates the FORTRAN subroutines used by the other two programs to identify the user commands with the user-written device drivers. The software system also includes an input data set which allows the user to define the user commands which are to be executed by the computer. To set the system up the operator writes device driver routines for all of the controlled devices. Once set up, this system requires only an input file containing natural language command lines which tell the system what to do and when to do it. The operator can make up custom commands for operating and taking data from external research equipment at any time of the day or night without the operator in attendance. This process control system requires a personal computer operating under MS-DOS with suitable hardware interfaces to all controlled devices. The program requires a FORTRAN77 compiler and user-written device drivers. This program was developed in 1989 and has a memory requirement of about 62 Kbytes.

  6. Cloud-Enhanced Robotic System for Smart City Crowd Control

    Directory of Open Access Journals (Sweden)

    Akhlaqur Rahman

    2016-12-01

    Full Text Available Cloud robotics in smart cities is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with a cloud computing infrastructure. It complements the Internet of Things (IoT by creating an expanded network where robots offload data-intensive computation to the ubiquitous cloud to ensure quality of service (QoS. However, offloading for robots is significantly complex due to their unique characteristics of mobility, skill-learning, data collection, and decision-making capabilities. In this paper, a generic cloud robotics framework is proposed to realize smart city vision while taking into consideration its various complexities. Specifically, we present an integrated framework for a crowd control system where cloud-enhanced robots are deployed to perform necessary tasks. The task offloading is formulated as a constrained optimization problem capable of handling any task flow that can be characterized by a Direct Acyclic Graph (DAG. We consider two scenarios of minimizing energy and time, respectively, and develop a genetic algorithm (GA-based approach to identify the optimal task offloading decisions. The performance comparison with two benchmarks shows that our GA scheme achieves desired energy and time performance. We also show the adaptability of our algorithm by varying the values for bandwidth and movement. The results suggest their impact on offloading. Finally, we present a multi-task flow optimal path sequence problem that highlights how the robot can plan its task completion via movements that expend the minimum energy. This integrates path planning with offloading for robotics. To the best of our knowledge, this is the first attempt to evaluate cloud-based task offloading for a smart city crowd control system.

  7. Centralized Command, Distributed Control, and Decentralized Execution - a Command and Control Solution to US Air Force A2/AD Challenges

    Science.gov (United States)

    2017-04-28

    backup or “retrograde” locations.61 The “low” portion of the design could be Control and Reporting Centers (CRCs), Airborne C2 platforms (e.g., E-3’s...technology and emerging capabilities must continue to be investigated (e.g., the “combat cloud ”).93 94 A2/AD is a dynamic family of problems that is...Report (Institute for Software Research, Carnegie Mellon University, Pittsburgh, PA: Center for the Computational Analysis of Social and

  8. A bio-inspired kinematic controller for obstacle avoidance during reaching tasks with real robots.

    Science.gov (United States)

    Srinivasa, Narayan; Bhattacharyya, Rajan; Sundareswara, Rashmi; Lee, Craig; Grossberg, Stephen

    2012-11-01

    This paper describes a redundant robot arm that is capable of learning to reach for targets in space in a self-organized fashion while avoiding obstacles. Self-generated movement commands that activate correlated visual, spatial and motor information are used to learn forward and inverse kinematic control models while moving in obstacle-free space using the Direction-to-Rotation Transform (DIRECT). Unlike prior DIRECT models, the learning process in this work was realized using an online Fuzzy ARTMAP learning algorithm. The DIRECT-based kinematic controller is fault tolerant and can handle a wide range of perturbations such as joint locking and the use of tools despite not having experienced them during learning. The DIRECT model was extended based on a novel reactive obstacle avoidance direction (DIRECT-ROAD) model to enable redundant robots to avoid obstacles in environments with simple obstacle configurations. However, certain configurations of obstacles in the environment prevented the robot from reaching the target with purely reactive obstacle avoidance. To address this complexity, a self-organized process of mental rehearsals of movements was modeled, inspired by human and animal experiments on reaching, to generate plans for movement execution using DIRECT-ROAD in complex environments. These mental rehearsals or plans are self-generated by using the Fuzzy ARTMAP algorithm to retrieve multiple solutions for reaching each target while accounting for all the obstacles in its environment. The key aspects of the proposed novel controller were illustrated first using simple examples. Experiments were then performed on real robot platforms to demonstrate successful obstacle avoidance during reaching tasks in real-world environments. Copyright © 2012 Elsevier Ltd. All rights reserved.

  9. Control and robotics remote laboratory for engineering education

    Directory of Open Access Journals (Sweden)

    Gregor Pačnik

    2005-06-01

    Full Text Available The new tools for education of engineering emerged and one of the most promising is a remote rapid control prototyping (RRCP, which is very useful also for control and robotics development in industry and in education. Examples of introductory remote control and simple robotics courses with integrated hands on experiments are presented in the paper. The aim of integration of remote hands on experiments into control and/or robotics course is to minimize the gap between the theory and practice to teach students the use of RRCP and to decrease the education costs. Developed RRCP experiments are based on MATLAB/Simulink, xPC target, custom developed embedded target

  10. An assigned responsibility system for robotic teleoperation control.

    Science.gov (United States)

    Small, Nicolas; Lee, Kevin; Mann, Graham

    2018-01-01

    This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

  11. External force/velocity control for an autonomous rehabilitation robot

    Science.gov (United States)

    Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

    2018-01-01

    Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial

  12. Integrated navigation and control software system for MRI-guided robotic prostate interventions.

    Science.gov (United States)

    Tokuda, Junichi; Fischer, Gregory S; DiMaio, Simon P; Gobbi, David G; Csoma, Csaba; Mewes, Philip W; Fichtinger, Gabor; Tempany, Clare M; Hata, Nobuhiko

    2010-01-01

    A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. Copyright 2009 Elsevier Ltd. All rights reserved.

  13. Integrated navigation and control software system for MRI-guided robotic prostate interventions

    Science.gov (United States)

    Tokuda, Junichi; Fischer, Gregory S.; DiMaio, Simon P.; Gobbi, David G.; Csoma, Csaba; Mewes, Philip W.; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

    2010-01-01

    A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called “workphases” that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. PMID:19699057

  14. Admittance Control for Robot Assisted Retinal Vein Micro-Cannulation under Human-Robot Collaborative Mode

    Science.gov (United States)

    Gonenc, Berk; Iordachita, Iulian

    2017-01-01

    Retinal vein occlusion is one of the most common retinovascular diseases. Retinal vein cannulation is a potentially effective treatment method for this condition that currently lies, however, at the limits of human capabilities. In this work, the aim is to use robotic systems and advanced instrumentation to alleviate these challenges, and assist the procedure via a human-robot collaborative mode based on our earlier work on the Steady-Hand Eye Robot and force-sensing instruments. An admittance control method is employed to stabilize the cannula relative to the vein and maintain it inside the lumen during the injection process. A pre-stress strategy is used to prevent the tip of microneedle from getting out of vein in in prolonged infusions, and the performance is verified through simulations. PMID:29607442

  15. Admittance Control for Robot Assisted Retinal Vein Micro-Cannulation under Human-Robot Collaborative Mode.

    Science.gov (United States)

    Zhang, He; Gonenc, Berk; Iordachita, Iulian

    2017-10-01

    Retinal vein occlusion is one of the most common retinovascular diseases. Retinal vein cannulation is a potentially effective treatment method for this condition that currently lies, however, at the limits of human capabilities. In this work, the aim is to use robotic systems and advanced instrumentation to alleviate these challenges, and assist the procedure via a human-robot collaborative mode based on our earlier work on the Steady-Hand Eye Robot and force-sensing instruments. An admittance control method is employed to stabilize the cannula relative to the vein and maintain it inside the lumen during the injection process. A pre-stress strategy is used to prevent the tip of microneedle from getting out of vein in in prolonged infusions, and the performance is verified through simulations.

  16. Autonomous Robot Control via Autonomy Levels (ARCAL)

    Science.gov (United States)

    2015-08-21

    same simulated objects. VRF includes a detailed graphical user interface (GUI) front end that subscribes to objects over HLA and renders them, along...forces.html 8. Gao, H., LI, Z., and Zhao, X., "The User -defined and Func- tion-strengthened for CGF of VR -Forces [J]." Computer Simulation, vol. 6...info Scout vehicle commands Scout vehicle Sensor measurements Mission vehicle Mission goals Operator interface Scout belief update Logistics

  17. Electroencephalography (EEG) Based Control in Assistive Mobile Robots: A Review

    International Nuclear Information System (INIS)

    Krishnan, N Murali; Mariappan, Muralindran; Muthukaruppan, Karthigayan; Hijazi, Mohd Hanafi Ahmad; Kitt, Wong Wei

    2016-01-01

    Recently, EEG based control in assistive robot usage has been gradually increasing in the area of biomedical field for giving quality and stress free life for disabled and elderly people. This study reviews the deployment of EGG based control in assistive robots, especially for those who in need and neurologically disabled. The main objective of this paper is to describe the methods used for (i) EEG data acquisition and signal preprocessing, (ii) feature extraction and (iii) signal classification methods. Besides that, this study presents the specific research challenges in the designing of these control systems and future research directions. (paper)

  18. Nonlinear Control of Back-to-Back VSC-HVDC System via Command-Filter Backstepping

    Directory of Open Access Journals (Sweden)

    Jie Huang

    2017-01-01

    Full Text Available This paper proposed a command-filtered backstepping controller to improve the dynamic performance of back-to-back voltage-source-converter high voltage direct current (BTB VSC-HVDC. First, the principle and model of BTB VSC-HVDC in abc and d-q frame are described. Then, backstepping method is applied to design a controller to maintain the voltage balance and realize coordinated control of active and reactive power. Meanwhile, command filter is introduced to deal with the problem of input saturation and explosion of complexity in conventional backstepping, and a filter compensation signal is designed to diminish the adverse effects caused by the command filter. Next, the stability and convergence of the whole system are proved via the Lyapunov theorem of asymptotic stability. Finally, simulation results are given to demonstrate that proposed controller has a better dynamic performance and stronger robustness compared to the traditional PID algorithm, which also proves the effectiveness and possibility of the designed controller.

  19. The Influence of Future Command, Control, Communications, and Computers (C4) on Doctrine and the Operational Commander's Decision-Making Process

    Science.gov (United States)

    Mayer, Michael G.

    1996-01-01

    Future C4 systems will alter the traditional balance between force and information, having a profound influence on doctrine and the operational commander's decision making process. The Joint Staff's future vision of C4 is conceptualized in 'C4I for the Warrior' which envisions a joint C4I architecture providing timely sensor to shoot information direct to the warfighter. C4 system must manage and filter an overwhelming amount of information; deal with interoperability issues; overcome technological limitations; meet emerging security requirements; and protect against 'Information Warfare.' Severe budget constraints necessitate unified control of C4 systems under singular leadership for the common good of all the services. In addition, acquisition policy and procedures must be revamped to allow new technologies to be fielded quickly; and the commercial marketplace will become the preferred starting point for modernization. Flatter command structures are recommended in this environment where information is available instantaneously. New responsibilities for decision making at lower levels are created. Commanders will have to strike a balance between exerting greater control and allowing subordinates enough flexibility to maintain initiative. Clearly, the commander's intent remains the most important tool in striking this balance.

  20. DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Y. A. Kapitanyuk

    2014-03-01

    Full Text Available The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.

  1. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  2. Robotics, vision and control fundamental algorithms in Matlab

    CERN Document Server

    Corke, Peter

    2017-01-01

    Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and compu...

  3. Automatic control of a robotic vehicle

    Science.gov (United States)

    Mcreynolds, S. R.

    1976-01-01

    Over the last several years Jet Propulsion Laboratory has been engaged in a project to develop some of the technology required to build a robotic vehicle for exploring planetary surfaces. An overview of hardware and software being developed for this project is given. Particular emphasis is placed on the description of the current design for the Vehicle System required for locomotion and the path planning algorithm.

  4. Driving a Semiautonomous Mobile Robotic Car Controlled by an SSVEP-Based BCI.

    Science.gov (United States)

    Stawicki, Piotr; Gembler, Felix; Volosyak, Ivan

    2016-01-01

    Brain-computer interfaces represent a range of acknowledged technologies that translate brain activity into computer commands. The aim of our research is to develop and evaluate a BCI control application for certain assistive technologies that can be used for remote telepresence or remote driving. The communication channel to the target device is based on the steady-state visual evoked potentials. In order to test the control application, a mobile robotic car (MRC) was introduced and a four-class BCI graphical user interface (with live video feedback and stimulation boxes on the same screen) for piloting the MRC was designed. For the purpose of evaluating a potential real-life scenario for such assistive technology, we present a study where 61 subjects steered the MRC through a predetermined route. All 61 subjects were able to control the MRC and finish the experiment (mean time 207.08 s, SD 50.25) with a mean (SD) accuracy and ITR of 93.03% (5.73) and 14.07 bits/min (4.44), respectively. The results show that our proposed SSVEP-based BCI control application is suitable for mobile robots with a shared-control approach. We also did not observe any negative influence of the simultaneous live video feedback and SSVEP stimulation on the performance of the BCI system.

  5. The development of Windows based control system for the tele-robotics

    International Nuclear Information System (INIS)

    Kim, Byung Soo; Kim, Seung Ho; Seo, Yong Chil; Kim, Ki Ho; Hwang, Suk Yeoung; Kim, Chang Hoi; Jung, Seung Ho; Lee, Young Kwang

    1998-03-01

    The WSCS (Windows-based Supervisory Control System) has been developed for the efficient control of the mobile robot in the hazardous area, such as reactor surroundings of HPWR (Heavy Pressurized Water Reactor). The WSCS is basically computer program which consists windows menu-program, socket-based communication program, force reflection joystick program, and OpenGL-based 3D graphic program. Also, the WSCS includes the force control algorithm of a master control device ( in this case, joystick) for the enhanced operability. To evaluate the effectiveness of the designed WSCS and the force reflection control algorithm, a series of experiments has been made in such a way that human operators command the desired motion of robot by manipulating the joystick in the virtual environment. As a result, it was proven that the designed WSCS is very easy-to-use and effective. Also, the developed force reflection algorithm is more efficient than that of general tele-operation, even though there are some difference in human dexterity. In near future, the WSCS will be applied in the next version of KAEROT. (author). 11 refs., 14 tabs., 1 fig

  6. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  7. The Remotely Controlled Robot System for Nuclear Power Plants

    International Nuclear Information System (INIS)

    Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

    1993-01-01

    The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

  8. Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

    Science.gov (United States)

    dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

    2017-01-01

    Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

  9. Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Cviklovič Vladimír

    2016-03-01

    Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.

  10. Thought-Controlled Nanoscale Robots in a Living Host.

    Directory of Open Access Journals (Sweden)

    Shachar Arnon

    Full Text Available We report a new type of brain-machine interface enabling a human operator to control nanometer-size robots inside a living animal by brain activity. Recorded EEG patterns are recognized online by an algorithm, which in turn controls the state of an electromagnetic field. The field induces the local heating of billions of mechanically-actuating DNA origami robots tethered to metal nanoparticles, leading to their reversible activation and subsequent exposure of a bioactive payload. As a proof of principle we demonstrate activation of DNA robots to cause a cellular effect inside the insect Blaberus discoidalis, by a cognitively straining task. This technology enables the online switching of a bioactive molecule on and off in response to a subject's cognitive state, with potential implications to therapeutic control in disorders such as schizophrenia, depression, and attention deficits, which are among the most challenging conditions to diagnose and treat.

  11. Thought-Controlled Nanoscale Robots in a Living Host

    Science.gov (United States)

    Giron, Jonathan; Ben-Ami, Lee; Amir, Yaniv; Hel-Or, Yacov; Friedman, Doron; Bachelet, Ido

    2016-01-01

    We report a new type of brain-machine interface enabling a human operator to control nanometer-size robots inside a living animal by brain activity. Recorded EEG patterns are recognized online by an algorithm, which in turn controls the state of an electromagnetic field. The field induces the local heating of billions of mechanically-actuating DNA origami robots tethered to metal nanoparticles, leading to their reversible activation and subsequent exposure of a bioactive payload. As a proof of principle we demonstrate activation of DNA robots to cause a cellular effect inside the insect Blaberus discoidalis, by a cognitively straining task. This technology enables the online switching of a bioactive molecule on and off in response to a subject’s cognitive state, with potential implications to therapeutic control in disorders such as schizophrenia, depression, and attention deficits, which are among the most challenging conditions to diagnose and treat. PMID:27525806

  12. Control of articulated snake robot under dynamic active constraints.

    Science.gov (United States)

    Kwok, Ka-Wai; Vitiello, Valentina; Yang, Guang-Zhong

    2010-01-01

    Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism.

  13. Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Platt, Robert J., Jr. (Inventor); Quillin, Nathaniel (Inventor); Permenter, Frank Noble (Inventor); Pfeiffer, Joseph (Inventor)

    2014-01-01

    A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

  14. Experimentally supported control design for a direct drive robot

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.

    2002-01-01

    We promote the idea of an experimentally supported control design as a successful way to achieve accurate tracking of reference robot motions, under disturbance conditions and given the uncertainties arising from modeling errors. The Hinf robust control theory is used for design of motion

  15. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

    Starrenburg, J.G.; Starrenburg, J.G.; van Luenen, W.T.C.; van Luenen, W.T.C.; Oelen, W.; Oelen, W.; van Amerongen, J.

    1996-01-01

    This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning

  16. Formation control of unicycle robots using virtual structure approach

    NARCIS (Netherlands)

    Sadowska, A.D.; Huijberts, H.J.C.; Kostic, D.; Wouw, van de N.; Nijmeijer, H.

    2011-01-01

    This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error

  17. Experimental evaluation of control strategies for hydraulic servo robot

    DEFF Research Database (Denmark)

    Bech, Michael Møller; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    In this paper different linear and non-linear controllers applied to a hydraulically driven servo robot are evaluated and validated. The task is to make the actuators of the manipulator track a position reference with minimum error. Hydraulic systems are intrinsically non-linear and using linear...... in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results....

  18. Control of a Quadcopter Aerial Robot Using Optic Flow Sensing

    Science.gov (United States)

    Hurd, Michael Brandon

    This thesis focuses on the motion control of a custom-built quadcopter aerial robot using optic flow sensing. Optic flow sensing is a vision-based approach that can provide a robot the ability to fly in global positioning system (GPS) denied environments, such as indoor environments. In this work, optic flow sensors are used to stabilize the motion of quadcopter robot, where an optic flow algorithm is applied to provide odometry measurements to the quadcopter's central processing unit to monitor the flight heading. The optic-flow sensor and algorithm are capable of gathering and processing the images at 250 frames/sec, and the sensor package weighs 2.5 g and has a footprint of 6 cm2 in area. The odometry value from the optic flow sensor is then used a feedback information in a simple proportional-integral-derivative (PID) controller on the quadcopter. Experimental results are presented to demonstrate the effectiveness of using optic flow for controlling the motion of the quadcopter aerial robot. The technique presented herein can be applied to different types of aerial robotic systems or unmanned aerial vehicles (UAVs), as well as unmanned ground vehicles (UGV).

  19. Signal-Noise Ratio Control Subsystem of Digital Equipment for Transmission of "Strela" Relay Protection Commands

    Directory of Open Access Journals (Sweden)

    I. I. Zabenkov

    2012-01-01

    Full Text Available Continuous measurement function of relative noise and interference level in the information transmission channel is considered as an important one for controlling parameters of high-frequency signal. The present paper simulates an algorithm for measuring signal-noise ratio in the transmission channel of high-voltage lines which is used in the digital equipment for transmission of relay protection and emergency automation commands of "Strela" complex.

  20. Reexamining Ground SOF Command and Control: Does One Size Fit All

    Science.gov (United States)

    2016-12-01

    controlling forces and operations in the accomplishment of the mission.”19 Essentially, command gives, among other things, legal authority to an individual...of capturing Aidid. E. OPERATIONAL EFFECTIVENESS OF SOF TF Ranger executed six missions and aborted 35–40 missions during its deployment in support...of Operation RESTORE HOPE. The aborted missions were due to a lack of intelligence reporting. Of the six missions executed three were night-time

  1. Review of Ground Systems Development and Operations (GSDO) Tools for Verifying Command and Control Software

    Science.gov (United States)

    Aguilar, Michael L.; Bonanne, Kevin H.; Favretto, Jeffrey A.; Jackson, Maddalena M.; Jones, Stephanie L.; Mackey, Ryan M.; Sarrel, Marc A.; Simpson, Kimberly A.

    2014-01-01

    The Exploration Systems Development (ESD) Standing Review Board (SRB) requested the NASA Engineering and Safety Center (NESC) conduct an independent review of the plan developed by Ground Systems Development and Operations (GSDO) for identifying models and emulators to create a tool(s) to verify their command and control software. The NESC was requested to identify any issues or weaknesses in the GSDO plan. This document contains the outcome of the NESC review.

  2. Army Airspace Command and Control (A2C2): Action Plan for Issue Resolution

    Science.gov (United States)

    1993-09-01

    INFO Information INTEL Intelligence IPR In-Process Review IVIS Inter-Vehicular Information System JACC Joint Airspace Control Center JAOC Joint Air...base, centralized such as intelligence at Fort Huachuca and combat service support at Fort Lee , or a combination of both. It is no longer efficient to...Regiment (ATS) Ft. Bragg, NC 28307 ATTN: AFZF-ATS-C (LTC Ledbetter ) (919) 396-8899/7649 Bldg 87009, 16th Street Ft. Hood, TX 76544 Commander, 1st

  3. A distributed command governor strategy for the operational control of drinking water networks

    OpenAIRE

    Tedesco, Francesco; Ocampo-Martínez, Carlos; Casavola, Alessandro; Puig Cayuela, Vicenç

    2014-01-01

    This paper proposes the application of a distributed command governor (DCG) strategy for the operational control of drinking water networks (DWN). This approach is very suitable to this kind of management problems given the large-scale and complex nature of DWNs, the relevant effect of persistent disturbances (water demands) over the network evolutions and their marginal stability feature. The performance improvement offered by DCG is compared with the consideration of two non-centralized mod...

  4. Cleaning Up the Joint: Command, Control, and Agency in American War Fighting

    Science.gov (United States)

    2012-01-01

    served as the commander of the 586th Flight Test Squadron, Holloman Air Force Base, New Mexico . Colonel Cannon is a graduate of the University of...chose, maintain reasonably tight control. Presidents Polk and Lincoln, for example, were very active in the direction of the war with Mexico and the...including cholera , typhoid, and severe gastroenteritis” at times reaching “epidemic proportions.”50 Another interdisciplinary team, operating under the

  5. Command in Air War. Centralized Versus Decentralized Control of Combat Airpower

    Science.gov (United States)

    2007-06-01

    fears that Americans were the “Great Satan ” that its enemies claimed. Groups such as Ansar al-Islam incorporated these pictures into their recruit- ing...his steps. —Proverbs 16:9 —New American Standard Bible Air Force aircraft were not involved in the battle in Mogadishu, Somalia...Command and Control Research Pro- gram, Nov. 2002. http://www.dodccrp.org/publications/ pdf / Smith_EBO.PDF. Snook, Scott A. Friendly Fire: The Accidental

  6. Designed to Win: An Agile Approach to Air Force Command and Control of Cyberspace

    Science.gov (United States)

    2010-06-01

    capabilities and limitations of technology with a level of control that synchronizes operations, yet allows independent action to take advantage of...was during the Roman Empire. With the exception of the semaphore telegraph and an improved road network, the same methods of communication used by...48 To provide information quickly to the ground commanders, the Aviation Section of the US Signal Corps installed primitive wireless radio sets in

  7. An integrated command and control architecture concept for unmanned systems in the year 2030

    OpenAIRE

    Johnson, Jamarr J.; Buckley, Omari D.; Cunningham, Dustin; Matthews, Adam; Quincy, Keith E.; Fontenot, Dion G.; Moran, Michael G.; Tham, Gabriel; Wong, Jason; Quah, Raymond; Chia, Tommy; Costica, Yionon; Gho, Delvin; Seet, Henry; Ang, Teo Hong

    2010-01-01

    Approved for public release; distribution is unlimited. U.S. Forces require an integrated Command and Control Architecture that enables operations of a dynamic mix of manned and unmanned systems. The level of autonomous behavior correlates to: 1) the amount of trust with the reporting vehicles, and 2) the multi-spectral perspective of the observations. The intent to illuminate the architectural issues for force protection in 2030 was based on a multi-phased analytical model of High Value ...

  8. Study on control method of the actuators accepting commands from different classifications in nuclear power plant

    International Nuclear Information System (INIS)

    Tang Lixue; Zhang Nan; Fan Jin; Li Liang

    2015-01-01

    The distributed control system has become the main control system for the nuclear power plant, consisting of 1E and non-1E parts. Because the safety actuators accept commands from different safety classifications, this is a difficulty of controlling those actuators in nuclear power plant. This article discusses about the control method for safety actuators accepting commands from different classifications. Firstly, one control method adopted in new nuclear power projects is introduced. Then based on this, an optimized method is raised. The new method mainly concludes two points than the adopted method: 1. The concept 'local control mode' is introduced into the signal priority logic modules, and the priority logic module turns into local mode for the non-1E control system once it accepts safety signal; 2. The 'remote control mode' is added into the module of the safety actuator in the non-1E control system, and this can make the non-1E control system abandon controlling the safety actuator when the relevant priority logic module accept the safety signal. Based on verifying the correctness of modified scheme, comparisons between the fore-and-aft schemes are provided to summary the merits of the optimized method. It is concluded that optimized scheme is better in the aspects of reliability, safety and economy. (authors)

  9. EXOS research on master controllers for robotic devices

    Science.gov (United States)

    Marcus, Beth A.; An, Ben; Eberman, Brian

    1992-01-01

    Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

  10. Anti-Swing Control of Suspended Loads on Shipboard Robotic Cranes

    Directory of Open Access Journals (Sweden)

    Jackrit Suthakorn

    2005-02-01

    Full Text Available Currently, the speed at which materials can be transferred between ships at sea is limited by sea conditions. Rough sea conditions cause the payload to swing making load transfer difficult and time-consuming. The objective of this research is to develop a real-time, command compensating control for reducing sea state induced payload swing for shipboard robotic cranes. The future use of this control strategy will be to facilitate faster "ship-to-ship" payload transfer in rough sea conditions. In this study, only the sea-induced rotational motion of the ship is considered, since it is assumed that a station-keeping control maintains a constant position of the ship. This rotational motion is modelled using pitch-yaw-roll Euler angles. The shipboard robotic crane is modelled as a spherical pendulum attached to a three-degree-of-freedom manipulator. The three degrees-of-freedom are azimuth (rotation about an axis normal to the ship's deck, elevation (rotation about an axis parallel with the ship's deck, also referred to as luffing, and lift-line length. An inverse kinematics based approach and a sliding mode control strategy are explored. Both approaches use the azimuth and the elevation capability of the crane manipulator to maintain a horizontal position of the suspended load to reduce sea-induced payload sway.

  11. Consideration of Command and Control Performance during Accident Management Process at the Nuclear Power Plant

    Energy Technology Data Exchange (ETDEWEB)

    Ahmed, Nisrene M. [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of); Kim, Sok Chul [Korea Institute of Nuclear Safety, Daejeon (Korea, Republic of)

    2015-10-15

    The accident at the Fukushima Daiichi nuclear power plants shifted the nuclear safety paradigm from risk management to on-site management capability during a severe accident. The kernel of on-site management capability during an accident at a nuclear power plant is situation awareness and agility of command and control. However, little consideration has been given to accident management. After the events of September 11, 2001 and the catastrophic Fukushima nuclear disaster, agility of command and control has emerged as a significant element for effective and efficient accident management, with many studies emphasizing accident management strategies, particularly man-machine interface, which is considered a key role in ensuring nuclear power plant safety during severe accident conditions. This paper proposes a conceptual model for evaluating command and control performance during the accident management process at a nuclear power plant. Communication and information processing while responding to an accident is one of the key issues needed to mitigate the accident. This model will give guidelines for accurate and fast communication response during accident conditions.

  12. Parametric Approach to Trajectory Tracking Control of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Shijie Zhang

    2013-01-01

    Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

  13. Dynamic control of biped locomotion robot using optimal regulator

    International Nuclear Information System (INIS)

    Sano, Akihito; Furusho, Junji

    1988-01-01

    For moving in indoor space, it is generally recognized that biped locomotion is suitable. This paper proposes a hierarchical control strategy for the lower level where the position control or the force control at each joint is implemented. In the upper level control, the robot motion is divided into a sagittal plane and a lateral plane. We applied the optimal control algorithm to the motion control in the lateral plane in order to improve the robustness of the control system. The effects of these control schemes are shown by the experiments using the new walking robot BLR-G 1 and the parallel calculation system. BLR-G 1 has 9 degrees of freedom and equips the foot-pressure-sensors and a rate gyroscope. Complete dynamic walking is realized, in which the cycle for each step is about 1.0 second. (author)

  14. Medial gastrocnemius myoelectric control of a robotic ankle exoskeleton.

    Science.gov (United States)

    Kinnaird, Catherine R; Ferris, Daniel P

    2009-02-01

    A previous study from our laboratory showed that when soleus electromyography was used to control the amount of plantar flexion assistance from a robotic ankle exoskeleton, subjects significantly reduced their soleus activity to quickly return to normal gait kinematics. We speculated that subjects were primarily responding to the local mechanical assistance of the exoskeleton rather than directly attempting to reduce exoskeleton mechanical power via decreases in soleus activity. To test this observation we studied ten healthy subjects walking on a treadmill at 1.25 m/s while wearing a robotic exoskeleton proportionally controlled by medial gastrocnemius activation. We hypothesized that subjects would primarily decrease soleus activity due to its synergistic mechanics with the exoskeleton. Subjects decreased medial gastrocnemius recruitment by 12% ( p exoskeleton (soleus). These findings indicate that anatomical morphology needs to be considered carefully when designing software and hardware for robotic exoskeletons.

  15. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  16. Measurements in Concentrated Sun using a Remote Controlled Robot

    Directory of Open Access Journals (Sweden)

    Dan Floroian

    2013-04-01

    Full Text Available Nowdays, using the concentrated sunlight is a big issue because the amount of energy is very high and the light is concentrated in a very small area. The main problem in this situation is the heating, and in order to make safe measurements a remote controlled robot is needed. After that, a remote controlled robot will assume the duty of protect the measured sample and to expose it for a precise time to the concentrated sun in order to reduce heating of the sample. For easy operating, and for automatize the process, all the duties, starting with initial conditions, continuing with triggering the measurements, and conditioning the signals and finalizing with data saving must be assured by the robot.

  17. Communications and Information: Strategic Automated Command Control System-Data Transmission Subsystem (SACCS-DTS) Software Configuration Management and Change Control

    National Research Council Canada - National Science Library

    1997-01-01

    .... It prescribes the requirements, responsibilities, and procedures for operation, security, and configuration management of the Strategic Automated Command Control System-Data Transmission Subsystem (SACCS-DTS...

  18. Automating the Incremental Evolution of Controllers for Physical Robots.

    Science.gov (United States)

    Faíña, Andrés; Jacobsen, Lars Toft; Risi, Sebastian

    2017-01-01

    Evolutionary robotics is challenged with some key problems that must be solved, or at least mitigated extensively, before it can fulfill some of its promises to deliver highly autonomous and adaptive robots. The reality gap and the ability to transfer phenotypes from simulation to reality constitute one such problem. Another lies in the embodiment of the evolutionary processes, which links to the first, but focuses on how evolution can act on real agents and occur independently from simulation, that is, going from being, as Eiben, Kernbach, & Haasdijk [2012, p. 261] put it, "the evolution of things, rather than just the evolution of digital objects.…" The work presented here investigates how fully autonomous evolution of robot controllers can be realized in hardware, using an industrial robot and a marker-based computer vision system. In particular, this article presents an approach to automate the reconfiguration of the test environment and shows that it is possible, for the first time, to incrementally evolve a neural robot controller for different obstacle avoidance tasks with no human intervention. Importantly, the system offers a high level of robustness and precision that could potentially open up the range of problems amenable to embodied evolution.

  19. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  20. Mesofluidic controlled robotic or prosthetic finger

    Science.gov (United States)

    Lind, Randall F; Jansen, John F; Love, Lonnie J

    2013-11-19

    A mesofluidic powered robotic and/or prosthetic finger joint includes a first finger section having at least one mesofluidic actuator in fluid communication with a first actuator, a second mesofluidic actuator in fluid communication with a second actuator and a second prosthetic finger section pivotally connected to the first finger section by a joint pivot, wherein the first actuator pivotally cooperates with the second finger to provide a first mechanical advantage relative to the joint point and wherein the second actuator pivotally cooperates with the second finger section to provide a second mechanical advantage relative to the joint point.

  1. Fuzzy control in robot-soccer, evolutionary learning in the first layer of control

    Directory of Open Access Journals (Sweden)

    Peter J Thomas

    2003-02-01

    Full Text Available In this paper an evolutionary algorithm is developed to learn a fuzzy knowledge base for the control of a soccer playing micro-robot from any configuration belonging to a grid of initial configurations to hit the ball along the ball to goal line of sight. The knowledge base uses relative co-ordinate system including left and right wheel velocities of the robot. Final path positions allow forward and reverse facing robot to ball and include its physical dimensions.

  2. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  3. Team Leader Structuring for Team Effectiveness and Team Learning in Command-and-Control Teams

    Science.gov (United States)

    van der Haar, Selma; Koeslag-Kreunen, Mieke; Euwe, Eline; Segers, Mien

    2017-01-01

    Due to their crucial and highly consequential task, it is of utmost importance to understand the levers leading to effectiveness of multidisciplinary emergency management command-and-control (EMCC) teams. We argue that the formal EMCC team leader needs to initiate structure in the team meetings to support organizing the work as well as facilitate team learning, especially the team learning process of constructive conflict. In a sample of 17 EMCC teams performing a realistic EMCC exercise, including one or two team meetings (28 in sum), we coded the team leader’s verbal structuring behaviors (1,704 events), rated constructive conflict by external experts, and rated team effectiveness by field experts. Results show that leaders of effective teams use structuring behaviors more often (except asking procedural questions) but decreasingly over time. They support constructive conflict by clarifying and by making summaries that conclude in a command or decision in a decreasing frequency over time. PMID:28490856

  4. Team Leader Structuring for Team Effectiveness and Team Learning in Command-and-Control Teams.

    Science.gov (United States)

    van der Haar, Selma; Koeslag-Kreunen, Mieke; Euwe, Eline; Segers, Mien

    2017-04-01

    Due to their crucial and highly consequential task, it is of utmost importance to understand the levers leading to effectiveness of multidisciplinary emergency management command-and-control (EMCC) teams. We argue that the formal EMCC team leader needs to initiate structure in the team meetings to support organizing the work as well as facilitate team learning, especially the team learning process of constructive conflict. In a sample of 17 EMCC teams performing a realistic EMCC exercise, including one or two team meetings (28 in sum), we coded the team leader's verbal structuring behaviors (1,704 events), rated constructive conflict by external experts, and rated team effectiveness by field experts. Results show that leaders of effective teams use structuring behaviors more often (except asking procedural questions) but decreasingly over time. They support constructive conflict by clarifying and by making summaries that conclude in a command or decision in a decreasing frequency over time.

  5. Gaze-and-brain-controlled interfaces for human-computer and human-robot interaction

    Directory of Open Access Journals (Sweden)

    Shishkin S. L.

    2017-09-01

    Full Text Available Background. Human-machine interaction technology has greatly evolved during the last decades, but manual and speech modalities remain single output channels with their typical constraints imposed by the motor system’s information transfer limits. Will brain-computer interfaces (BCIs and gaze-based control be able to convey human commands or even intentions to machines in the near future? We provide an overview of basic approaches in this new area of applied cognitive research. Objective. We test the hypothesis that the use of communication paradigms and a combination of eye tracking with unobtrusive forms of registering brain activity can improve human-machine interaction. Methods and Results. Three groups of ongoing experiments at the Kurchatov Institute are reported. First, we discuss the communicative nature of human-robot interaction, and approaches to building a more e cient technology. Specifically, “communicative” patterns of interaction can be based on joint attention paradigms from developmental psychology, including a mutual “eye-to-eye” exchange of looks between human and robot. Further, we provide an example of “eye mouse” superiority over the computer mouse, here in emulating the task of selecting a moving robot from a swarm. Finally, we demonstrate a passive, noninvasive BCI that uses EEG correlates of expectation. This may become an important lter to separate intentional gaze dwells from non-intentional ones. Conclusion. The current noninvasive BCIs are not well suited for human-robot interaction, and their performance, when they are employed by healthy users, is critically dependent on the impact of the gaze on selection of spatial locations. The new approaches discussed show a high potential for creating alternative output pathways for the human brain. When support from passive BCIs becomes mature, the hybrid technology of the eye-brain-computer (EBCI interface will have a chance to enable natural, fluent, and the

  6. Development of a remote controlled robot system for monitoring nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Woo, Hee Gon; Song, Myung Jae; Shin, Hyun Bum; Oh, Gil Hwan; Maeng, Sung Jun; Choi, Byung Jae; Chang, Tae Woo [Korea Electric Power Research Institute, Taejon (Korea, Republic of); Lee, Bum Hee; Yoo, Jun; Choi, Myung Hwan; Go, Nak Yong; Lee, Kee Dong; Lee, Young Dae; Cho, Hae Kyeng; Nam, Yoon Suk [Electric and Science Research Center, (Korea, Republic of)

    1996-12-31

    It`s a final report of the development of remote controlled robot system for monitoring the facilities in nuclear power plant and contains as follows, -Studying the technologies in robot developments and analysing the requirements and working environments - Development of the test mobile robot system - Development of the mobile-robot - Development of the Mounted system on the Mobile robot - Development of the Monitoring system - Mobil-robot applications and future study. In this study we built the basic technologies and schemes for future robot developments and applications. (author). 20 refs., figs.

  7. Control method for biped locomotion robots based on ZMP information

    International Nuclear Information System (INIS)

    Kume, Etsuo

    1994-01-01

    The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author)

  8. Experimental robot gripper control for handling of soft objects

    Science.gov (United States)

    Friedrich, Werner E.; Ziegler, T. H.; Lim, P.

    1996-10-01

    The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.

  9. DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform

    Directory of Open Access Journals (Sweden)

    Roni Permana Saputra

    2012-03-01

    Full Text Available This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11. The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform. 

  10. Robots, systems, and methods for hazard evaluation and visualization

    Science.gov (United States)

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15

    A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

  11. Model reference adaptive control of flexible robots in the presence of sudden load changes

    Science.gov (United States)

    Steinvorth, Rodrigo; Kaufman, Howard; Neat, Gregory

    1991-01-01

    Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition, such MRAC procedures are designed so that a feedforward augmented output follows the reference model output, thus, resulting in an ultimately bounded rather than zero output error. Thus, modifications are suggested and tested that: (1) incorporate feedforward into the reference model's output as well as the plant's output, and (2) incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error, and thus encourage further use of MRAC for more complex flexibile robotic systems.

  12. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  13. Force-sensed interface for control and training space robot

    Science.gov (United States)

    Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

    2018-05-01

    A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

  14. Multi-robot motion control for cooperative observation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1997-01-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems

  15. Novel Approach to Control of Robotic Hand Using Flex Sensors

    Directory of Open Access Journals (Sweden)

    Sandesh R.S

    2014-05-01

    Full Text Available This paper discuss about novel design approach to control of a robotic hand using flex sensors which indicates a biomechatronic multi fingered robotic hand. This robotic hand consists of base unit, upper arm, lower arm, palm and five fingers. The aim is to develop an anthropomorphic five fingered robotic hand. The proposed design illustrates the use of 5 micro DC motors with 9 Degrees of Freedom (DOF.Each finger is controlled independently. Further three extra motors were used for the control of wrist elbow and base movement. The study of the DC motor is being carried out using the transfer function model for constant excitation. The micro DC motor performance was analyzed using MATLAB simulation environment. The whole system is implemented using flex sensors. The flex sensors placed on the human hand gloves appear as if they look like real human hand.  89v51 microcontroller was used for all the controlling actions along with RF transmitter/receiver .The performance of the system has been conducted experimentally and studied.

  16. Multi-robot motion control for cooperative observation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E. [Oak Ridge National Lab., TN (United States). Center for Engineering Systems Advanced Research

    1997-06-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems.

  17. Tracking control of mobile robots: a case study in backstepping

    NARCIS (Netherlands)

    Jiang, Zhong-Ping; Nijmeijer, Henk

    1997-01-01

    A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small.

  18. Remote-controlled vision-guided mobile robot system

    Science.gov (United States)

    Ande, Raymond; Samu, Tayib; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

  19. SVM-Based Control System for a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Foudil Abdessemed

    2012-12-01

    Full Text Available Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.

  20. RoMPS concept review automatic control of space robot, volume 2

    Science.gov (United States)

    Dobbs, M. E.

    1991-01-01

    Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.

  1. Combined analysis of cortical (EEG) and nerve stump signals improves robotic hand control.

    Science.gov (United States)

    Tombini, Mario; Rigosa, Jacopo; Zappasodi, Filippo; Porcaro, Camillo; Citi, Luca; Carpaneto, Jacopo; Rossini, Paolo Maria; Micera, Silvestro

    2012-01-01

    Interfacing an amputee's upper-extremity stump nerves to control a robotic hand requires training of the individual and algorithms to process interactions between cortical and peripheral signals. To evaluate for the first time whether EEG-driven analysis of peripheral neural signals as an amputee practices could improve the classification of motor commands. Four thin-film longitudinal intrafascicular electrodes (tf-LIFEs-4) were implanted in the median and ulnar nerves of the stump in the distal upper arm for 4 weeks. Artificial intelligence classifiers were implemented to analyze LIFE signals recorded while the participant tried to perform 3 different hand and finger movements as pictures representing these tasks were randomly presented on a screen. In the final week, the participant was trained to perform the same movements with a robotic hand prosthesis through modulation of tf-LIFE-4 signals. To improve the classification performance, an event-related desynchronization/synchronization (ERD/ERS) procedure was applied to EEG data to identify the exact timing of each motor command. Real-time control of neural (motor) output was achieved by the participant. By focusing electroneurographic (ENG) signal analysis in an EEG-driven time window, movement classification performance improved. After training, the participant regained normal modulation of background rhythms for movement preparation (α/β band desynchronization) in the sensorimotor area contralateral to the missing limb. Moreover, coherence analysis found a restored α band synchronization of Rolandic area with frontal and parietal ipsilateral regions, similar to that observed in the opposite hemisphere for movement of the intact hand. Of note, phantom limb pain (PLP) resolved for several months. Combining information from both cortical (EEG) and stump nerve (ENG) signals improved the classification performance compared with tf-LIFE signals processing alone; training led to cortical reorganization and

  2. Range-Space Predictive Control for Optimal Robot Motion

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Böhm, Josef

    2008-01-01

    Roč. 1, č. 1 (2008), s. 1-7 ISSN 1998-0140 R&D Projects: GA ČR GP102/06/P275 Institutional research plan: CEZ:AV0Z10750506 Keywords : Accurate manipulation * Industrial robotics * Predictive control * Range-space control Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0305644.pdf

  3. Web-Based Interface for Command and Control of Network Sensors

    Science.gov (United States)

    Wallick, Michael N.; Doubleday, Joshua R.; Shams, Khawaja S.

    2010-01-01

    This software allows for the visualization and control of a network of sensors through a Web browser interface. It is currently being deployed for a network of sensors monitoring Mt. Saint Helen s volcano; however, this innovation is generic enough that it can be deployed for any type of sensor Web. From this interface, the user is able to fully control and monitor the sensor Web. This includes, but is not limited to, sending "test" commands to individual sensors in the network, monitoring for real-world events, and reacting to those events

  4. Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

    Directory of Open Access Journals (Sweden)

    Hong Zeng

    2017-10-01

    Full Text Available Brain-machine interface (BMI can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback over the open-loop system (with visual inspection only have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes.

  5. Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

    Science.gov (United States)

    Zeng, Hong; Wang, Yanxin; Wu, Changcheng; Song, Aiguo; Liu, Jia; Ji, Peng; Xu, Baoguo; Zhu, Lifeng; Li, Huijun; Wen, Pengcheng

    2017-01-01

    Brain-machine interface (BMI) can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR) guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG) signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback) over the open-loop system (with visual inspection only) have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes. PMID:29163123

  6. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

    Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

  7. A Hybrid Approach to Cognitive Engineering: Supporting Development of a Revolutionary Warfighter-Centered Command and Control System

    National Research Council Canada - National Science Library

    Ockerman, Jennifer; McKneely, Jennifer A; Koterba, Nathan

    2005-01-01

    ...) for the requirements analysis and design of revolutionary command and control systems and domains. This hybrid approach uses knowledge elicitation and representation techniques from several current cognitive engineering methodologies...

  8. Communications and Information: Strategic Automated Command Control System-Data Transmission Subsystem (SACCS-DTS) Network Security Program. Volume 2

    National Research Council Canada - National Science Library

    1997-01-01

    ...) Systems, and 33-2, Information Protection. This instruction prescribes the requirements, responsibilities and procedures for the security program for the Strategic Automated Command Control System-Data Transmission Subsystem (SACCS-DTS...

  9. The Director of Mobility Forces' Role in the Command Control of Air Mobility Assets During Humanitarian Relief Operations

    National Research Council Canada - National Science Library

    Bush, Timothy E

    2000-01-01

    ...). Air Force doctrine recommends a command and control (C2) structure that permits the same organizational concept to be used throughout the spectrum of conflict, tailored to suit the specific operational objectives of a Joint Task Force (JFT...

  10. On the comparison of predictive control and command governor approaches for operational control of drinking water networks: A case study

    OpenAIRE

    Tedesco, Francesco; Ocampo-Martinez, Carlos; Cassavola, Alessandro; Puig, Vicenç

    2014-01-01

    This paper evaluates the application of command governor (CG) strategy for the operational control of drinking water networks (DWN) given their large-scale and complex nature, the permanent and relevant effect of the disturbances (water demands) and their marginal stability feature. Moreover, the performance improvement offered by CG is compared with the application of model predictive control for the same management purposes and in the same context. The paper also discusses the effectiveness...

  11. Aerial robot intelligent control method based on back-stepping

    Science.gov (United States)

    Zhou, Jian; Xue, Qian

    2018-05-01

    The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.

  12. Web based educational tool for neural network robot control

    Directory of Open Access Journals (Sweden)

    Jure Čas

    2007-05-01

    Full Text Available Abstract— This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC and the graphical user interface (GUI. Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI, running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote’s user. Index Terms—LabVIEW; Matlab/Simulink; Neural network control; remote educational tool; robotics

  13. Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial muscles.

    Science.gov (United States)

    Lenz, Alexander; Anderson, Sean R; Pipe, A G; Melhuish, Chris; Dean, Paul; Porrill, John

    2009-12-01

    In this paper, a model of cerebellar function is implemented and evaluated in the control of a robot eye actuated by pneumatic artificial muscles. The investigated control problem is stabilization of the visual image in response to disturbances. This is analogous to the vestibuloocular reflex (VOR) in humans. The cerebellar model is structurally based on the adaptive filter, and the learning rule is computationally analogous to least-mean squares, where parameter adaptation at the parallel fiber/Purkinje cell synapse is driven by the correlation of the sensory error signal (carried by the climbing fiber) and the motor command signal. Convergence of the algorithm is first analyzed in simulation on a model of the robot and then tested online in both one and two degrees of freedom. The results show that this model of neural function successfully works on a real-world problem, providing empirical evidence for validating: 1) the generic cerebellar learning algorithm; 2) the function of the cerebellum in the VOR; and 3) the signal transmission between functional neural components of the VOR.

  14. Mechanical design and optimal control of humanoid robot (TPinokio

    Directory of Open Access Journals (Sweden)

    Teck Chew Wee

    2014-04-01

    Full Text Available The mechanical structure and the control of the locomotion of bipedal humanoid is an important and challenging domain of research in bipedal robots. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Toe-foot walking produces a more natural and faster walking speed and it is even possible to perform stretch knee walking. This study presents the mechanical design of a toe-feet bipedal, TPinokio and the implementation of some optimal walking gait generation methods. The optimality in the gait trajectory is achieved by applying augmented model predictive control method and the pole-zero cancellation method, taken into consideration of a trade-off between walking speed and stability. The mechanism of the TPinokio robot is designed in modular form, so that its kinematics can be modelled accurately into a multiple point-mass system, its dynamics is modelled using the single and double mass inverted pendulum model and zero-moment-point concept. The effectiveness of the design and control technique is validated by simulation testing with the robot walking on flat surface and climbing stairs.

  15. Fuzzy Logic and PID control of a 3 DOF Robotic Arm

    Directory of Open Access Journals (Sweden)

    Korhan Kayışlı

    2017-12-01

    Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

  16. THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM OF ROBOTICS OBJECTS

    Directory of Open Access Journals (Sweden)

    S.V. Shavetov

    2014-03-01

    Full Text Available The paper deals with the architecture for the universal remote control system of robotics objects over the Internet global network. Control objects are assumed to be located at a considerable distance from a reference device or end-users. An overview of studies on the subject matter of remote control of technical objects is given. A structure chart of the architecture demonstrating the system usage in practice is suggested. Server software is considered that makes it possible to work with technical objects connected to the server as with a serial port and organize a stable tunnel connection between the controlled object and the end-user. The proposed architecture has been successfully tested on mobile robots Parallax Boe-Bot and Lego Mindstorms NXT. Experimental data about values of time delays are given demonstrating the effectiveness of the considered architecture.

  17. Passivity-Based Control for Two-Wheeled Robot Stabilization

    Science.gov (United States)

    Uddin, Nur; Aryo Nugroho, Teguh; Agung Pramudito, Wahyu

    2018-04-01

    A passivity-based control system design for two-wheeled robot (TWR) stabilization is presented. A TWR is a statically-unstable non-linear system. A control system is applied to actively stabilize the TWR. Passivity-based control method is applied to design the control system. The design results in a state feedback control law that makes the TWR closed loop system globally asymptotically stable (GAS). The GAS is proven mathematically. The TWR stabilization is demonstrated through computer simulation. The simulation results show that the designed control system is able to stabilize the TWR.

  18. Robust coordinated control of a dual-arm space robot

    Science.gov (United States)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

    Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

  19. Locomotor Sub-functions for Control of Assistive Wearable Robots

    Directory of Open Access Journals (Sweden)

    Maziar A. Sharbafi

    2017-09-01

    Full Text Available A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

  20. Locomotor Sub-functions for Control of Assistive Wearable Robots.

    Science.gov (United States)

    Sharbafi, Maziar A; Seyfarth, Andre; Zhao, Guoping

    2017-01-01

    A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance : redirecting the center of mass by exerting forces on the ground. Swing : cycling the legs between ground contacts. Balance : maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

  1. The on scene command and control system (OSC2) : an integrated incident command system (ICS) forms-database management system and oil spill trajectory and fates model

    International Nuclear Information System (INIS)

    Anderson, E.; Galagan, C.; Howlett, E.

    1998-01-01

    The On Scene Command and Control (OSC 2 ) system is an oil spill modeling tool which was developed to combine Incident Command System (ICS) forms, an underlying database, an integrated geographical information system (GIS) and an oil spill trajectory and fate model. The first use of the prototype OSC 2 system was at a PREP drill conducted at the U.S. Coast Guard Marine Safety Office, San Diego, in April 1998. The goal of the drill was to simulate a real-time response over a 36-hour period using the Unified Command System. The simulated spill was the result of a collision between two vessels inside San Diego Bay that caused the release of 2,000 barrels of fuel oil. The hardware component of the system which was tested included three notebook computers, two laser printers, and a poster printer. The field test was a success but it was not a rigorous test of the system's capabilities. The map display was useful in quickly setting up the ICS divisions and groups and in deploying resources. 6 refs., 1 tab., 5 figs

  2. Development of Vision Control Scheme of Extended Kalman filtering for Robot's Position Control

    International Nuclear Information System (INIS)

    Jang, W. S.; Kim, K. S.; Park, S. I.; Kim, K. Y.

    2003-01-01

    It is very important to reduce the computational time in estimating the parameters of vision control algorithm for robot's position control in real time. Unfortunately, the batch estimation commonly used requires too murk computational time because it is iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has many advantages to calculate the parameters of vision system in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. The vision system model used in this study involves six parameters to account for the inner(orientation, focal length etc) and outer (the relative location between robot and camera) parameters of camera. Then, EKF has been first applied to estimate these parameters, and then with these estimated parameters, also to estimate the robot's joint angles used for robot's operation. finally, the practicality of vision control scheme based on the EKF has been experimentally verified by performing the robot's position control

  3. Evolving Robot Controllers for Structured Environments Through Environment Decomposition

    DEFF Research Database (Denmark)

    Moreno, Rodrigo; Faiña, Andres; Støy, Kasper

    2015-01-01

    In this paper we aim to develop a controller that allows a robot to traverse an structured environment. The approach we use is to decompose the environment into simple sub-environments that we use as basis for evolving the controller. Specifically, we decompose a narrow corridor environment...... environments and that the order in which the decomposed sub-environments are presented in sequence impacts the performance of the evolutionary algorithm....

  4. State-space Generalized Predicitve Control for redundant parallel robots

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Böhm, Josef; Valášek, M.

    2003-01-01

    Roč. 31, č. 3 (2003), s. 413-432 ISSN 1539-7734 R&D Projects: GA ČR GA101/03/0620 Grant - others:CTU(CZ) 0204512 Institutional research plan: CEZ:AV0Z1075907 Keywords : parallel robot construction * generalized predictive control * drive redundancy Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0411126.pdf

  5. A variable structure tracking controller for robot manipulators

    International Nuclear Information System (INIS)

    Lee, Jung Hoon; Shin, Hwi Beom

    1997-01-01

    In this paper, a continuous variable structure tracking controller is designed for the purpose of the control of robot manipulators to follow a given desired planned trajectory with high accuracy. The robustness and continuity of the algorithm are much improved by means of the feedforward compensation technique based on the disturbance observer without any chattering problem. Also the stability of the algorithm is analyzed in detail, further more the usefulness and good performances are verified through computer simulation studies. (author)

  6. Anatomy-Based Organization of Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Campbell, Jason

    2008-01-01

    This paper presents a novel biologically inspired hierarchical approach to organizing and controlling modular robots. The purpose of our approach is to decompose the complexity of assembling and commanding a functional robot made of numerous simple modules (thousands to millions) by introducing...... a hierarchy of structure and control. The robots we describe incorporate anatomically inspired parts such as muscles, bones and joints, and these parts in turn are assembled from modules. Each of those parts encapsulates one or more functions, e.g. a muscle can contract. Control of the robot can then be cast...... as a problem of controlling its anatomical parts rather than each discrete module. We show simulation results from experiments using gradient-based primitives to control parts of increasingly complex robots, including snake, crawler, cilia-surface, arm-joint-muscle and grasping robots. We conclude...

  7. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  8. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  9. Electromagnetic compatibility for the control and command equipments in nuclear power plants

    International Nuclear Information System (INIS)

    Buisson, J.

    1985-06-01

    Different kinds of electrical interference produce some disturbance on electronic sub-assemblies used to assume the control and the command of nuclear reactors. Following interferences are described: power supply lines perturbations, potential difference between grounding connections, electromagnetic fields. A method is described for testing the EMC of different equipments. The advantages of this method are: no destructive method, usable for testing equipment ''in situ'' in operating conditions on nuclear power plant, usable for testing equipment before operating conditions (acceptance test), level of the testing signals similar to the electrical interference level induced by the electromagnetic environment in normal operating conditions, no particular equipment and installation for test are required [fr

  10. Analysis of the Command and Control Segment (CCS) attitude estimation algorithm

    Science.gov (United States)

    Stockwell, Catherine

    1993-01-01

    This paper categorizes the qualitative behavior of the Command and Control Segment (CCS) differential correction algorithm as applied to attitude estimation using simultaneous spin axis sun angle and Earth cord length measurements. The categories of interest are the domains of convergence, divergence, and their boundaries. Three series of plots are discussed that show the dependence of the estimation algorithm on the vehicle radius, the sun/Earth angle, and the spacecraft attitude. Common qualitative dynamics to all three series are tabulated and discussed. Out-of-limits conditions for the estimation algorithm are identified and discussed.

  11. Intelligent control system Cellular Robotics Approach to Nuclear Plant control and maintenance

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Sekiyama, Kousuke; Xue Guoqing; Ueyama, Tsuyoshi.

    1994-01-01

    This paper presents the concept of Cellular Robotic System (CEBOT) and describe the strategy of a distributed sensing, control and planning as a Cellular Robotics Approach to the Nuclear Plant control and maintenance. Decentralized System is effective in large plant and The CEBOT possesses desirable features for realization of Nuclear Plant control and maintenance because of its flexibility and adaptability. Also, as related on going research work, self-organizing manipulator and communication issues are mentioned. (author)

  12. Design and Development of Mechanical Structure and Control System for Tracked Trailing Mobile Robot

    OpenAIRE

    Hongchuan Xu; Jianxing Ren; Rui Zhu; Zhiwei Chen

    2013-01-01

    Along with the science and technology unceasing progress, the uses of tracing robots become more and more widely. Tracked tracing robot was adopted as the research object in this paper, mechanical structure and control system of robot was designed and developmented. In mechanical structure design part, structure designed and positioned  were completed, including design of robot body, wheel, underpan, transmission structure and the positioning of batteries, control panel, sensors, etc, and the...

  13. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  14. A discrete-time adaptive control scheme for robot manipulators

    Science.gov (United States)

    Tarokh, M.

    1990-01-01

    A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

  15. An iterative learning controller for nonholonomic mobile robots

    International Nuclear Information System (INIS)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-01-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

  16. Automating the control of robotic systems in unstructured environments

    International Nuclear Information System (INIS)

    Harrigan, R.W.

    1993-01-01

    The US Department Energy's Office of Technology Development has sponsored the development of generic robotics technologies for application to a wide range of remote systems. Of primary interest is the development of technologies which enable faster, safer, and cheaper cleanup of hazardous waste sites than is possible using conventional human contact or remote manual approaches. The development of model-based sensor-directed robot control approaches supports these goals by developing modular control technologies which reduce the time and cost of development by allowing reuse of control system software. In addition, the use of computer models improves the safety of remote site cleanup by allowing automated errors detection and recovery while reducing the time for technology development

  17. Multivariable fuzzy modelling and command: application to the thermic engine control; Modelisation et commande multivariables floues: application a la commande d`un moteur thermique

    Energy Technology Data Exchange (ETDEWEB)

    Bortolet, P.

    1998-12-11

    During these last two decades, the growing awareness of the contribution of the automobile to the degradation of the environment has forces different figures from the transportation world to put automobiles under more and more severe controls. Fuzzy logic is a technique which allows for the taking into account of experts knowledge; the most recent research work has moreover shown interest in associating fuzzy logic with algorithmic control techniques (adaptive control, robust control...). Our research work can be broken down into three distinct parts: a theoretical approach concerning the methods of fuzzy modeling permitting one to achieve models of the type Takagi-Sugeno and to use them in the synthesis of controls; the work of physical modeling of a four-stroke direct injection gas motor in collaboration with the development teams from Siemens Automotive SA; the simulated application of fuzzy modeling techniques and of fuzzy control developed on a theoretical level to a four-stroke direct injection gas motor. (author) 105 refs.

  18. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

    Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

    1991-01-01

    In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

  19. Human-Inspired Eigenmovement Concept Provides Coupling-Free Sensorimotor Control in Humanoid Robot.

    Science.gov (United States)

    Alexandrov, Alexei V; Lippi, Vittorio; Mergner, Thomas; Frolov, Alexander A; Hettich, Georg; Husek, Dusan

    2017-01-01

    Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmovement (EM) control. Eigenmovements are kinematic synergies designed to describe the multi DoF system, and its control, with a set of independent, and hence coupling-free , scalar equations. This paper investigates whether the EM alternative shows "real-world robustness" against noisy and inaccurate sensors, mechanical non-linearities such as dead zones, and human-like feedback time delays when controlling hip-ankle movements of a balancing humanoid robot. The EM concept and the EM controller are introduced, the robot's dynamics are identified using a biomechanical approach, and robot tests are performed in a human posture control laboratory. The tests show that the EM controller provides stable control of the robot with proactive ("voluntary") movements and reactive balancing of stance during support surface tilts and translations. Although a preliminary robot-human comparison reveals similarities and differences, we conclude (i) the Eigenmovement concept is a valid candidate when different concepts of human sensorimotor control are considered, and (ii) that human-inspired robot experiments may help to decide in future the choice among the candidates and to improve the design of humanoid robots and robotic rehabilitation devices.

  20. Design And Control Of Agricultural Robot For Tomato Plants Treatment And Harvesting

    Science.gov (United States)

    Sembiring, Arnes; Budiman, Arif; Lestari, Yuyun D.

    2017-12-01

    Although Indonesia is one of the biggest agricultural country in the world, implementation of robotic technology, otomation and efficiency enhancement in agriculture process hasn’t extensive yet. This research proposed a low cost agricultural robot architecture. The robot could help farmer to survey their farm area, treat the tomato plants and harvest the ripe tomatoes. Communication between farmer and robot was facilitated by wireless line using radio wave to reach wide area (120m radius). The radio wave was combinated with Bluetooth to simplify the communication between robot and farmer’s Android smartphone. The robot was equipped with a camera, so the farmers could survey the farm situation through 7 inch monitor display real time. The farmers controlled the robot and arm movement through an user interface in Android smartphone. The user interface contains control icons that allow farmers to control the robot movement (formard, reverse, turn right and turn left) and cut the spotty leaves or harvest the ripe tomatoes.

  1. Command and Control of the U.S. Tenth Army During the Battle of Okinawa

    Science.gov (United States)

    2009-06-12

    Army‘s XXIV Corps, commanded by Major General John R . Hodge, and the U.S. Marine Corps‘ III Amphibious Corps, commanded by Major General Roy S. Geiger...Watanabe, was activated in April 1944. Ushijima assumed command in August 1944, after Watanabe was bedridden and sent back to Japan due to chronic...great success and combat experience during the war in the Pacific. Army Major General John R . Hodge commanded the XXIV Corps. Hodge was commissioned

  2. A new approach of active compliance control via fuzzy logic control for multifingered robot hand

    Science.gov (United States)

    Jamil, M. F. A.; Jalani, J.; Ahmad, A.

    2016-07-01

    Safety is a vital issue in Human-Robot Interaction (HRI). In order to guarantee safety in HRI, a model reference impedance control can be a very useful approach introducing a compliant control. In particular, this paper establishes a fuzzy logic compliance control (i.e. active compliance control) to reduce impact and forces during physical interaction between humans/objects and robots. Exploiting a virtual mass-spring-damper system allows us to determine a desired compliant level by understanding the behavior of the model reference impedance control. The performance of fuzzy logic compliant control is tested in simulation for a robotic hand known as the RED Hand. The results show that the fuzzy logic is a feasible control approach, particularly to control position and to provide compliant control. In addition, the fuzzy logic control allows us to simplify the controller design process (i.e. avoid complex computation) when dealing with nonlinearities and uncertainties.

  3. Affordances and Constraints of Intelligent Decision Support for Military Command and Control : Three Case Studies of Support Systems

    OpenAIRE

    Leifler, Ola

    2011-01-01

    Researchers in military command and control (C2) have for several decades sought to help commanders by introducing automated, intelligent decision support systems. These systems are still not widely used, however, and some researchers argue that this may be due to those problems that are inherent in the relationship between the affordances of technology and the requirements by the specific contexts of work in military C2. In this thesis, we study some specific properties of three support tech...

  4. INTEGRATED ROBOT-HUMAN CONTROL IN MINING OPERATIONS

    Energy Technology Data Exchange (ETDEWEB)

    George Danko

    2005-04-01

    This report contains a detailed description of the work conducted in the first year of the project on Integrated Robot-Human Control in Mining Operations at University of Nevada, Reno. This project combines human operator control with robotic control concepts to create a hybrid control architecture, in which the strengths of each control method are combined to increase machine efficiency and reduce operator fatigue. The kinematics reconfiguration type differential control of the excavator implemented with a variety of ''software machine kinematics'' is the key feature of the project. This software re-configured excavator is more desirable to execute a given digging task. The human operator retains the master control of the main motion parameters, while the computer coordinates the repetitive movement patterns of the machine links. These repetitive movements may be selected from a pre-defined family of trajectories with different transformations. The operator can make adjustments to this pattern in real time, as needed, to accommodate rapidly-changing environmental conditions. A Bobcat{reg_sign} 435 excavator was retrofitted with electro-hydraulic control valve elements. The modular electronic control was tested and the basic valve characteristics were measured for each valve at the Robotics Laboratory at UNR. Position sensors were added to the individual joint control actuators, and the sensors were calibrated. An electronic central control system consisting of a portable computer, converters and electronic driver components was interfaced to the electro-hydraulic valves and position sensors. The machine is operational with or without the computer control system depending on whether the computer interface is on or off. In preparation for emulated mining tasks tests, typical, repetitive tool trajectories during surface mining operations were recorded at the Newmont Mining Corporation's ''Lone Tree'' mine in Nevada.

  5. Autonomous Satellite Command and Control through the World Wide Web: Phase 3

    Science.gov (United States)

    Cantwell, Brian; Twiggs, Robert

    1998-01-01

    NASA's New Millenium Program (NMP) has identified a variety of revolutionary technologies that will support orders of magnitude improvements in the capabilities of spacecraft missions. This program's Autonomy team has focused on science and engineering automation technologies. In doing so, it has established a clear development roadmap specifying the experiments and demonstrations required to mature these technologies. The primary developmental thrusts of this roadmap are in the areas of remote agents, PI/operator interface, planning/scheduling fault management, and smart execution architectures. Phases 1 and 2 of the ASSET Project (previously known as the WebSat project) have focused on establishing World Wide Web-based commanding and telemetry services as an advanced means of interfacing a spacecraft system with the PI and operators. Current automated capabilities include Web-based command submission, limited contact scheduling, command list generation and transfer to the ground station, spacecraft support for demonstrations experiments, data transfer from the ground station back to the ASSET system, data archiving, and Web-based telemetry distribution. Phase 2 was finished in December 1996. During January-December 1997 work was commenced on Phase 3 of the ASSET Project. Phase 3 is the subject of this report. This phase permitted SSDL and its project partners to expand the ASSET system in a variety of ways. These added capabilities included the advancement of ground station capabilities, the adaptation of spacecraft on-board software, and the expansion of capabilities of the ASSET management algorithms. Specific goals of Phase 3 were: (1) Extend Web-based goal-level commanding for both the payload PI and the spacecraft engineer; (2) Support prioritized handling of multiple PIs as well as associated payload experimenters; (3) Expand the number and types of experiments supported by the ASSET system and its associated spacecraft; (4) Implement more advanced resource

  6. Optimizing a mobile robot control system using GPU acceleration

    Science.gov (United States)

    Tuck, Nat; McGuinness, Michael; Martin, Fred

    2012-01-01

    This paper describes our attempt to optimize a robot control program for the Intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.

  7. Intelligent automated control of robotic systems for environmental restoration

    International Nuclear Information System (INIS)

    Harrigan, R.W.

    1992-01-01

    The US Department of Energy's Office of Technology Development (OTD) has sponsored the development of the Generic Intelligent System Controller (GISC) for application to remote system control. Of primary interest to the OTD is the development of technologies which result in faster, safer, and cheaper cleanup of hazardous waste sites than possible using conventional approaches. The objective of the GISC development project is to support these goals by developing a modular robotics control approach which reduces the time and cost of development by allowing reuse of control system software and uses computer models to improve the safety of remote site cleanup while reducing the time and life cycle costs

  8. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  9. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  10. Modeling and Control of a Dragonfly-Like Robot

    Directory of Open Access Journals (Sweden)

    Micael S. Couceiro

    2010-01-01

    Full Text Available Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

  11. A Hybrid Robotic Control System Using Neuroblastoma Cultures

    Science.gov (United States)

    Ferrández, J. M.; Lorente, V.; Cuadra, J. M.; Delapaz, F.; Álvarez-Sánchez, José Ramón; Fernández, E.

    The main objective of this work is to analyze the computing capabilities of human neuroblastoma cultured cells and to define connection schemes for controlling a robot behavior. Multielectrode Array (MEA) setups have been designed for direct culturing neural cells over silicon or glass substrates, providing the capability to stimulate and record simultaneously populations of neural cells. This paper describes the process of growing human neuroblastoma cells over MEA substrates and tries to modulate the natural physiologic responses of these cells by tetanic stimulation of the culture. We show that the large neuroblastoma networks developed in cultured MEAs are capable of learning: establishing numerous and dynamic connections, with modifiability induced by external stimuli and we propose an hybrid system for controlling a robot to avoid obstacles.

  12. Synthesis of a Controller for Swarming Robots Performing Underwater Mine Countermeasures

    National Research Council Canada - National Science Library

    Tan, Yong

    2004-01-01

    This Trident Scholar project involved the synthesis of a swarm controller that is suitable for controlling movements of a group of autonomous robots performing underwater mine countermeasures (UMCM...

  13. Robotic control architecture development for automated nuclear material handling systems

    International Nuclear Information System (INIS)

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies

  14. Kinematic control of redundant robots and the motion optimizability measure.

    Science.gov (United States)

    Li, L; Gruver, W A; Zhang, Q; Yang, Z

    2001-01-01

    This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

  15. Sensing human hand motions for controlling dexterous robots

    Science.gov (United States)

    Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

    1988-01-01

    The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

  16. A portable modular architecture for robotic manipulator control

    International Nuclear Information System (INIS)

    Butler, P.L.

    1993-01-01

    A control architecture has been developed to provide a framework for robotic manipulator control. This architecture, called the Modular Integrated Control Architecture (MICA), has been successfully applied to two different manipulator systems. MICA is a portable system in two respects. First, it can be used for the control of different types of manipulator systems. Second, the MICA code is portable across several operating environments. This portability allows the sharing of common control code among various systems. A major portion of MICA is the precise control of multiple processors that have to be coordinated to control a manipulator system. By having NUCA control the processor synchronization, the system developer can concentrate on the specific aspects of a new manipulator system. MICA also provides standard functions for trajectory generation that can be used for most manipulators. Custom trajectory generators can be easily added to suit the needs of a particular robotic control system. Another facility that MICA provides is a simulation of the manipulator, allowing the control code to be simulated before trying it on a manipulator system. Using this technique, one can develop code for a manipulator system without risking damage to the arm during development

  17. Robotic Arm Control Algorithm Based on Stereo Vision Using RoboRealm Vision

    Directory of Open Access Journals (Sweden)

    SZABO, R.

    2015-05-01

    Full Text Available The goal of this paper is to present a stereo computer vision algorithm intended to control a robotic arm. Specific points on the robot joints are marked and recognized in the software. Using a dedicated set of mathematic equations, the movement of the robot is continuously computed and monitored with webcams. Positioning error is finally analyzed.

  18. Controlling maximum evaluation duration in on-line and on-board evolutionary robotics

    NARCIS (Netherlands)

    Atta-ul-Qayyum, A.; Nedev, D.G.; Haasdijk, E.W.

    2014-01-01

    On-line evolution of robot controllers allows robots to adapt while they perform their proper tasks. In our investigations, robots contain their own self-sufficient evolutionary algorithm (known as the encapsulated approach) where individual solutions are evaluated by means of a time sharing scheme:

  19. Intuitive wireless control of a robotic arm for people living with an upper body disability.

    Science.gov (United States)

    Fall, C L; Turgeon, P; Campeau-Lecours, A; Maheu, V; Boukadoum, M; Roy, S; Massicotte, D; Gosselin, C; Gosselin, B

    2015-08-01

    Assistive Technologies (ATs) also called extrinsic enablers are useful tools for people living with various disabilities. The key points when designing such useful devices not only concern their intended goal, but also the most suitable human-machine interface (HMI) that should be provided to users. This paper describes the design of a highly intuitive wireless controller for people living with upper body disabilities with a residual or complete control of their neck and their shoulders. Tested with JACO, a six-degree-of-freedom (6-DOF) assistive robotic arm with 3 flexible fingers on its end-effector, the system described in this article is made of low-cost commercial off-the-shelf components and allows a full emulation of JACO's standard controller, a 3 axis joystick with 7 user buttons. To do so, three nine-degree-of-freedom (9-DOF) inertial measurement units (IMUs) are connected to a microcontroller and help measuring the user's head and shoulders position, using a complementary filter approach. The results are then transmitted to a base-station via a 2.4-GHz low-power wireless transceiver and interpreted by the control algorithm running on a PC host. A dedicated software interface allows the user to quickly calibrate the controller, and translates the information into suitable commands for JACO. The proposed controller is thoroughly described, from the electronic design to implemented algorithms and user interfaces. Its performance and future improvements are discussed as well.

  20. Command and Control of Space Assets Through Internet-Based Technologies Demonstrated

    Science.gov (United States)

    Foltz, David A.

    2002-01-01

    The NASA Glenn Research Center successfully demonstrated a transmission-control-protocol/ Internet-protocol- (TCP/IP) based approach to the command and control of onorbit assets over a secure network. This is a significant accomplishment because future NASA missions will benefit by using Internet-standards-based protocols. Benefits of this Internet-based space command and control system architecture include reduced mission costs and increased mission efficiency. The demonstration proved that this communications architecture is viable for future NASA missions. This demonstration was a significant feat involving multiple NASA organizations and industry. Phillip Paulsen, from Glenn's Project Development and Integration Office, served as the overall project lead, and David Foltz, from Glenn's Satellite Networks and Architectures Branch, provided the hybrid networking support for the required Internet connections. The goal was to build a network that would emulate a connection between a space experiment on the International Space Station and a researcher accessing the experiment from anywhere on the Internet, as shown. The experiment was interfaced to a wireless 802.11 network inside the demonstration area. The wireless link provided connectivity to the Tracking and Data Relay Satellite System (TDRSS) Internet Link Terminal (TILT) satellite uplink terminal located 300 ft away in a parking lot on top of a panel van. TILT provided a crucial link in this demonstration. Leslie Ambrose, NASA Goddard Space Flight Center, provided the TILT/TDRSS support. The TILT unit transmitted the signal to TDRS 6 and was received at the White Sands Second TDRSS Ground Station. This station provided the gateway to the Internet. Coordination also took place at the White Sands station to install a Veridian Firewall and automated security incident measurement (ASIM) system to the Second TDRSS Ground Station Internet gateway. The firewall provides a trusted network for the simulated space