WorldWideScience

Sample records for commands control robot

  1. Wireless Control LEGO NXT robot using voice commands

    OpenAIRE

    David Be; Cinhtia González; Manuel Escalante; Michel García; Carlos Miranda; Sergio Gonzalez

    2011-01-01

    This paper presents a wireless interface to control a LEGO NXT robot using voice commands through a computer. To perform speech recognition is used CSLU TOOLKIT with a corpus of Mexican Spanish voice, recognized commands are sent via Bluetooth from computer to robot, programming and motion routines to control the motors are done using Java and LeJOS NXJ. The interface consists of two main modules interconnected through the implementation of sockets: the voice recognition module and the wirele...

  2. Control Architecture for Robotic Agent Command and Sensing

    Science.gov (United States)

    Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

    2008-01-01

    Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to

  3. 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

  4. Multi-Touch Interaction for Robot Command and Control

    Science.gov (United States)

    2010-12-01

    developing a Multi-robot Operator Control Unit (MOCU) with capabilities in the land, air, sea , and undersea robot domains (Bruch, 2006). This modular...also a scroll wheel on the left side of the handle that adjusts the robot’s maximum speed. As the joystick does not have enough buttons to fulfill all...Control Button width + padding Buttons for tracking and movement Basis for Circle 1/3 Distance Index to Thumb Dead Band Zoom Speed Reset ADR Up Down Left

  5. Implementation of Directional Control System for Autonomous Robot Based on Voice Command Controller

    OpenAIRE

    Han Nilar Htay; Hla Myo Tun

    2014-01-01

    The main idea of this research is to process analog voice signal. The paper is implemented for controlling the robot by voice command. The implemented system involves voice recognition unit, digital data processing unit with DC switching section. The proposed system consists of a microcontroller and a voice recognition processor that can recognize a limited number of voice patterns. This is voice based guidance system, which uses the special voice recognition IC HM2007 for speech enhancement....

  6. 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.

  7. 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.

  8. Commande a saturation pour le controle de la position d'un robot volant de type quadrotor =

    Science.gov (United States)

    Boudguiga, Oussama

    Le quadrotor est un robot volant faisant partie de la famille des multirotors. Il possede plusieurs caracteristiques (une structure de taille reduite, faible poids, agilite, decollage et atterrissage vertical) qui lui offrent plusieurs avantages par rapport a d'autres types de robots volants. Mais malgre tous ses avantages, le quadrotor possede une dynamique fortement non lineaire et pleinement couplee, d'ou la necessite d'une commande robuste et stable. Ce memoire porte donc sur la modelisation et la commande de robot volant de type quadrotor. L'objectif principal dans ce memoire est de concevoir une commande a saturation pour le controle de la position d'un robot volant de type quadrotor. Pour atteindre cet objectif, un modele dynamique du quadrotor selon Euler Lagrange a ete developpe. Ensuite, une approche de commande basee sur une commande a saturation pour le controle de la position et une commande backstepping adaptative pour le controle de l'orientation a ete developpee a partir du modele dynamique. Sa stabilite a ete analysee par la suite en se basant sur le theoreme de Lyapunov et le lemme de Barbalat. L'approche de commande proposee a ete testee avec succes en simulation a l'aide du modele dynamique sur deux scenarios de vol differents, ensuite en ajoutant un bruit blanc dans les donnees de capteurs des positions.

  9. Development and Command-Control Tools for Many-Robot Systems

    National Research Council Canada - National Science Library

    Gage, Douglas W

    2005-01-01

    An initial concept is presented for a set of communications and command-control capabilities that can facilitate the development process for a system consisting of an arbitrarily large number of relatively simple...

  10. Using HMI Weintek in command of an industrial robot arm

    Science.gov (United States)

    Barz, C.; Latinovic, T.; Balan, I. B. A.; Pop-Vadean, A.; Pop, P. P.

    2015-06-01

    The present paper intends to highlight the utility and importance of HMI in the control of the robotic arm, commanding a Siemens PLC. The touch screen HMI Weinteke MT3070a is the user interface in the process command of Siemens PLC, in which the distances and displacement speeds are introduced on the three axes. The interface includes monitoring robotic arm movement but also allows its command by incrementing step by step the motion over axis.

  11. 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...

  12. Detonation command and control

    Energy Technology Data Exchange (ETDEWEB)

    Mace, Jonathan Lee; Seitz, Gerald J.; Echave, John A.; Le Bas, Pierre-Yves

    2017-12-05

    The detonation of one or more explosive charges and propellant charges by a detonator in response to a fire control signal from a command and control system comprised of a command center and instrumentation center with a communications link therebetween. The fire control signal is selectively provided to the detonator from the instrumentation center if plural detonation control switches at the command center are in a fire authorization status, and instruments, and one or more interlocks, if included, are in a ready for firing status. The instrumentation and command centers are desirably mobile, such as being respective vehicles.

  13. A deontic implementation of adjustable autonomy for command and control of robotic assets

    Science.gov (United States)

    Lisse, Sean A.; Beard, Jonathan T.; Huber, Marcus H.; Morgan, Geoffrey P.; DeKoven, Elyon A. M.

    2006-05-01

    This paper describes a system for implementing adjustable autonomy levels in simulated unmanned vehicles using an approach based upon the fields of deontics and Joint Intention Theory (JIT). It discusses Soar Technology's Intelligent Control Framework research project (ICF), the authors' use of deontics in the creation of adjustable autonomy for ICF, and some possible future directions in which the research could be expanded. Use of deontics and JIT in ICF has allowed us to define system-wide formal limits on the behavior of the unmanned systems controlled by ICF, to increase the flexibility of our adjustable autonomy system, and to decrease the granularity of the autonomy adjustments. This set of formalisms allows the unmanned system maximal autonomy in the default case, while allowing the user and supervisory agents to constrain that autonomy in situations when necessary. Unlike more strictly layered adjustable autonomy formalisms, our adjustable autonomy formalism can be used to restrict subsets of autonomous behaviors, rather than entire systems, in response to situational requirements.

  14. 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.

  15. 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.

  16. Balloon Command-Control

    Science.gov (United States)

    1977-01-07

    Continuo on reverse side Ii nocosom7’ and identify by block numnber) P cientific Balloons; Balloon flights; Telemetry; Balloon Control; plight Termination... improvements in the ground station which should result in a truly simplified operation. The final modification to the decoder board which appears... improve the sweep range nnd sweep rate, however, the wave shape is still not as good as achieved using an exter..al sine wave oscillator manually

  17. 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

  18. Three dimensional visualization to support command and control

    Energy Technology Data Exchange (ETDEWEB)

    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.

  19. Voice activated command and control with speech recognition over WiFi

    OpenAIRE

    Ayres, Tony; Nolan, Brian

    2006-01-01

    This paper presents work conducted to date on the development of a voice activated command and control framework specifically for the control of remote devices in a ubiquitous computing environment. The prototype device is a Java controlled Lego Mindstorm robot. The research considers three different scenario configurations. A recognition grammar for command and control of the robot has been created and implemented in Java, in part in the recognition engine and in part on the robot. The physi...

  20. 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.

  1. 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

    2012-06-01

    Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-offreedom (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.

  2. An intelligent robotics control scheme

    Science.gov (United States)

    Orlando, N. E.

    1984-01-01

    The problem of robot control is viewed at the level of communicating high-level commands produced by intelligent algorithms to the actuator/sensor controllers. Four topics are considered in the design of an integrated control and communications scheme for an intelligent robotic system: the use of abstraction spaces, hierarchical versus heterarchical control, distributed processing, and the interleaving of the steps of plan creation and plan execution. A scheme is presented for an n-level distributed hierarchical/heterarchical control system that effectively interleaves intelligent planning, execution, and sensory feedback. A three-level version of this scheme has been successfully implemented in the Intelligent Systems Research Lab at NASA Langley Research Center. This implementation forms the control structure for DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), a testbed system integrating AI software with robotics hardware.

  3. 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.

  4. 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

  5. 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...

  6. 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.

  7. 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...

  8. 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

  9. 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.

  10. 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

  11. Chinas Future SSBN Command and Control Structure

    Science.gov (United States)

    2016-11-01

    nuclear command and control and would require the creation of significant new bureaucratic structures and processes. In this model , as with the hy...Artillery, will assume control of the emergent SSBN force, though such a move would entail substantial revision of China’s bureaucratic structures... models implies different requirements for the PLA’s personnel policies, institutional organization, and physical infrastructure. The article then

  12. A Hopping Height Control for Hopping Robot

    Science.gov (United States)

    Ohashi, Eijiro; Ohnishi, Kouhei

    In recent years, legged robots are progressed and able to walk just like human beings. Hopping has a possibility of moving faster and avoiding larger obstacles than walking. Thus hopping becomes more significant. In this paper, to take account of torque limits of motors, we propose the method of controlling the hopping height by changing the leg length at bottom. Considering an actual environment, the environment will change as the robot moves around. Therefore we describe the way to estimate an actual thrust force. Using the estimated thrust force, command value of leg length in the landing phase is determined. The effectiveness of proposed method is confirmed by simulative and experimental results.

  13. 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

  14. Command and Control for Distributed Lethality

    Science.gov (United States)

    2017-06-01

    communications over vast distances, and the need for near-real-time coordination means that stakeholders for the distributed lethality concept can encompass a...and methods of effective communication systems. 14. SUBJECT TERMS command and control (C2) distributed lethality system of systems (SOS) model...refinement through simulations of the C2 structure and further research into technologies and methods of effective communication systems. vi THIS PAGE

  15. 14 CFR 417.303 - Command control system requirements.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Command control system requirements. 417... control system requirements. (a) General. When initiated by a flight safety official, a command control... receipt of the signal by the onboard vehicle flight termination system. A command control system must...

  16. 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...

  17. Robot Command Interface Using an Audio-Visual Speech Recognition System

    Science.gov (United States)

    Ceballos, Alexánder; Gómez, Juan; Prieto, Flavio; Redarce, Tanneguy

    In recent years audio-visual speech recognition has emerged as an active field of research thanks to advances in pattern recognition, signal processing and machine vision. Its ultimate goal is to allow human-computer communication using voice, taking into account the visual information contained in the audio-visual speech signal. This document presents a command's automatic recognition system using audio-visual information. The system is expected to control the laparoscopic robot da Vinci. The audio signal is treated using the Mel Frequency Cepstral Coefficients parametrization method. Besides, features based on the points that define the mouth's outer contour according to the MPEG-4 standard are used in order to extract the visual speech information.

  18. A RIDING FUZZY CONTROL SYSTEM FOR A MOUNTAIN AGRICULTURAL ROBOT

    OpenAIRE

    Wang, Yuanjie; Yang, Fuzeng; Zhou, Yu; Pan, Guanting; He, Jinyi; Lan, Yubin

    2013-01-01

    A fuzzy control system was designed to command driving directions for a mountain agriculture robot. First, a fuzzy control system program was developed based on the scheme of the robot driving control system. Then, the core part of the system--the fuzzy controller--was designed. Finally, a system model was created and a simulation test was conducted through the application of the Fuzzy Toolbox in MATLAB and SIMULINK. The results showed that the system is effective.

  19. Brain controlled robots.

    Science.gov (United States)

    Kawato, Mitsuo

    2008-06-01

    In January 2008, Duke University and the Japan Science and Technology Agency (JST) publicized their successful control of a brain-machine interface for a humanoid robot by a monkey brain across the Pacific Ocean. The activities of a few hundred neurons were recorded from a monkey's motor cortex in Miguel Nicolelis's lab at Duke University, and the kinematic features of monkey locomotion on a treadmill were decoded from neural firing rates in real time. The decoded information was sent to a humanoid robot, CB-i, in ATR Computational Neuroscience Laboratories located in Kyoto, Japan. This robot was developed by the JST International Collaborative Research Project (ICORP) as the "Computational Brain Project." CB-i's locomotion-like movement was video-recorded and projected on a screen in front of the monkey. Although the bidirectional communication used a conventional Internet connection, its delay was suppressed below one over several seconds, partly due to a video-streaming technique, and this encouraged the monkey's voluntary locomotion and influenced its brain activity. This commentary introduces the background and future directions of the brain-controlled robot.

  20. 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.

  1. 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...

  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. 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.

  4. Command Control for Many-Robot Systems

    National Research Council Canada - National Science Library

    Gage, Douglas W

    1992-01-01

    .... The initial thrust has been to develop generic behaviors, such as blanket, barrier, and sweep coverage, and various deployment and recovery modes, which can address a broad spectrum of generic...

  5. Command and Control Across Space and Cyberspace Domains

    Science.gov (United States)

    2016-02-16

    Command based on mission origin point Another option for command and control when space and cyberspace operations meet is for the geographic...commander to assume C2 where the mission originates . This would likely be at the GCC level since neither space nor cyberspace is frequently delegated...AIR WAR COLLEGE AIR UNIVERSITY COMMAND AND CONTROL ACROSS SPACE AND CYBERSPACE DOMAINS by Jason A. Parish, CDR, USN A Research Report

  6. 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...

  7. 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.

  8. Walking control of small size humanoid robot: HAJIME ROBOT 18

    Science.gov (United States)

    Sakamoto, Hajime; Nakatsu, Ryohei

    2007-12-01

    HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.

  9. 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.

  10. 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.

  11. Air Force Command and Control: The Need for Increased Adaptability

    Science.gov (United States)

    2012-07-01

    Commander, General Michael Moseley, Coalition Forces Land Component Commander, Lieutenant General Da­ 76 vid McKiernan, Coalition Forces Maritime...Command and Control of Space Assets The unique characteristics of systems operating in the ulti­ mate high ground present special considerations for the C2

  12. 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.

  13. Application of compliance/force control to industrial robots; Sangyoyo robot ni okeru compliance/chikaraseigyo no tekiyo

    Energy Technology Data Exchange (ETDEWEB)

    Katsuragawa, T.; Ioi, K.; Noro, O.; Nagata, O.; Kubota, N.; Ogimoto, K.; Kataoka, M. [Kawasaki Heavy Industries, Ltd., Tokyo (Japan)

    1994-10-20

    This paper describes a position command type hybrid compliance/force control system as a method to constitute a control system when an inner force sense sensor was used as an outer field sensor in industrial robots. The paper also reports the result of applying the system to robots. The proposed position command system realizes compliance control and force control in each degree of freedom in the six degrees in a robot. Application of the system to an operating robot adopted a revolute joint position commanding configuration. The robot used in the test is a six-axial motor-driven robot, which can carry a weight of 10 kgf. The robot controller has the robot OS, the robot language processing board, the independent joint shaft PID servo board, and the inner force sensing servo board linked to the VME bus. A simulation has discussed the stable region in the targeted compliance and the response characteristics. The result of an application test of the system indicated that the force response follows the target values, and the pressing force is controlled. 10 refs., 10 figs., 1 tab.

  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. Internet Remote Control Interface for a Multipurpose Robotic Arm

    Directory of Open Access Journals (Sweden)

    Cyprian M. Wronka

    2006-06-01

    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.

  16. 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.

  17. Android/GUI Controlled Bluetooth Spy Robot (SPY-BOT)

    OpenAIRE

    Nirmal K Thomas; Radhika S; ShyamMohanan.C; Sreelakshmi Rajan; Deepak S Koovackal; Suvarna A

    2017-01-01

    The robotic vehicle can be controlled by a PC or an android device. The GUI interface used to control the robot is developed in MATLAB, and the android app is developed using MIT appinventor 2. The robotic vehicle is equipped with an IP web camera for GUI interface and another wireless camera having night vision capability for remote monitoring/spying purposes. This system can be used in sensitive areas where humans cannot enter directly. The commands provided by android application/GUI inter...

  18. Exponentially Stabilizing Robot Control Laws

    Science.gov (United States)

    Wen, John T.; Bayard, David S.

    1990-01-01

    New class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.

  19. Supervisory Control of Multiple Uninhabited Systems Methodologies and Human-Robot Interface Technologies Technical (Commande et Surveillance de multiples systemes sans pilote Methodologies et technologies d’interfaces homme-robot)

    Science.gov (United States)

    2012-12-01

    Institute of Flight Systems Werner - Heisenberg - Weg 39 85579 Neubiberg Germany email : axel.schulte@unibw.de Mr. Gil GONCALVES University of...vehicle – comparison between a Telepresence headtracking 3D audio setup and a joystick- controlled system with a directional microphone • PT-1: Mr

  20. Neural Networks For Robot Control

    National Research Council Canada - National Science Library

    Nasr, Chaiban

    2001-01-01

    ...; and optimization of the architecture; (b) Application of artificial neural networks in controlling closed-loop 2D planar robot arm and comparison with the use of proportional-integral-differential (PID) controllers...

  1. Robot-Control Station Would Adapt To Operator

    Science.gov (United States)

    Diner, Daniel B.

    1993-01-01

    Proposed control station for remote robot adapts control system to personal characteristics and preferences of operator. Automatically adjusts positions and angles of video cameras and monitors, adjusts characteristics of hand controller, process images, and provides graphical displays serving operator best. System of one or more video cameras, controlled by computer, views workspace of robot, as shown in article, "Movable Cameras and Monitors For Viewing Telemanipulator" (NPO-17837). Control station includes several video monitors, hand controller, image-processing system providing graphical displays, voice-input command system, keyboards, and mouse.

  2. 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 ...

  3. Team Cognition in Experienced Command-and-Control Teams

    Science.gov (United States)

    Cooke, Nancy J.; Gorman, Jamie C.; Duran, Jasmine L.; Taylor, Amanda R.

    2007-01-01

    Team cognition in experienced command-and-control teams is examined in an UAV (Uninhabited Aerial Vehicle) simulation. Five 3-person teams with experience working together in a command-and-control setting were compared to 10 inexperienced teams. Each team participated in five 40-min missions of a simulation in which interdependent team members…

  4. 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)

  5. 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.

  6. Direct Adaptive Control Of An Industrial Robot

    Science.gov (United States)

    Seraji, Homayoun; Lee, Thomas; Delpech, Michel

    1992-01-01

    Decentralized direct adaptive control scheme for six-jointed industrial robot eliminates part of overall computational burden imposed by centralized controller and degrades performance of robot by reducing sampling rate. Control and controller-adaptation laws based on observed performance of manipulator: no need to model dynamics of robot. Adaptive controllers cope with uncertainties and variations in robot and payload.

  7. Soft Robotics: New Perspectives for Robot Bodyware and Control.

    Science.gov (United States)

    Laschi, Cecilia; Cianchetti, Matteo

    2014-01-01

    The remarkable advances of robotics in the last 50 years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others), but also by many applications (biomedical, service, rescue robots, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control. The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments.

  8. Soft Robotics: new perspectives for robot bodyware and control

    Directory of Open Access Journals (Sweden)

    Cecilia eLaschi

    2014-01-01

    Full Text Available The remarkable advances of robotics in the last fifty years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others, but also by many applications (biomedical, service, rescue robots, and many more, is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control.The current examples of soft robots represent a variety of solutions for actuation, and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments.

  9. 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.

  10. 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.

  11. Coordinated Control Of Mobile Robotic Manipulators

    Science.gov (United States)

    Seraji, Homayoun

    1995-01-01

    Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  12. 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.

  13. 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)

  14. 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.

  15. Distributed Command/Control Impacts on NAS Operations, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Command and Control (C2) activities abound in the NAS, and significantly influence daily operations and overall NAS efficiency. Since C2 effects are so prominent,...

  16. 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...

  17. 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...

  18. 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.

  19. 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...

  20. A robust adaptive robot controller

    NARCIS (Netherlands)

    Berghuis, Harry; Berghuis, Harry; Ortega, Romeo; Nijmeijer, Henk

    1993-01-01

    A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may

  1. 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.

  2. 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.

  3. Fuzzy logic based robotic controller

    Science.gov (United States)

    Attia, F.; Upadhyaya, M.

    1994-01-01

    Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

  4. 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.

  5. Direct model reference adaptive control of robotic arms

    Science.gov (United States)

    Kaufman, Howard; Swift, David C.; Cummings, Steven T.; Shankey, Jeffrey R.

    1993-01-01

    The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

  6. 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

  7. 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

  8. Classification of BMI control commands from rat's neural signals using extreme learning machine

    Directory of Open Access Journals (Sweden)

    Shin Hyung-Cheul

    2009-10-01

    Full Text Available Abstract A recently developed machine learning algorithm referred to as Extreme Learning Machine (ELM was used to classify machine control commands out of time series of spike trains of ensembles of CA1 hippocampus neurons (n = 34 of a rat, which was performing a target-to-goal task on a two-dimensional space through a brain-machine interface system. Performance of ELM was analyzed in terms of training time and classification accuracy. The results showed that some processes such as class code prefix, redundancy code suffix and smoothing effect of the classifiers' outputs could improve the accuracy of classification of robot control commands for a brain-machine interface system.

  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. 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

  11. Low-cost robotic arm control

    Science.gov (United States)

    Rogers, John R.

    2008-04-01

    A low-cost robotic arm and controller system is presented. The controller is a desktop model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. Manipulating the controller by hand causes the robotic arm to mimic the movement in maser-slave fashion. The system takes advantage of the low cost and wide availability of hobby radio control components and uses a low-cost, easy-to-program microprocessor. The system is implemented with a video camera on the robotic arm, and the arm is mounted on an unmanned omnidirectional vehicle inspection robot. With a camera on the end of a robot arm, the vehicle inspection system can reach difficult to-access regions of the vehicle underbody. Learning to manipulate the robot arm with this controller is faster than learning with a traditional joystick. Limitations of the microcontroller are discussed, and suggestions for further development of the robot arm and control are made.

  12. 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

  13. 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...

  14. 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...

  15. 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.

  16. 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.

  17. Command and Control Career Ladder, AFSC 274X0.

    Science.gov (United States)

    1987-04-01

    I COMMAND AND CONTROL CAREER LADDER AFSC 274X0 AFPT 90-274-774 APRIL 1987 OCCUPATIONAL ANALYSIS PROGRAM USAF OCCUPATIONAL MEASUREMENT CENTER AIR...3 HQ TAC/TTGT 1 1 HQ USAF/XODRF 1 1 HQ USAF/ MPPT 1 1 HQ USAFE/DPAT 3 3 HQ USAFE/TTGT 1 1 HO USMC (CODE TPI) 1 NODAC 1 3300 TCHTW/TTGX (KEESLER AFB MS...Command and Control career ladder (AFSC 274X0). This survey was requested by the Training Development Services Division of the USAF Occupa- tional

  18. Mobile Agents: A Distributed Voice-Commanded Sensory and Robotic System for Surface EVA Assistance

    Science.gov (United States)

    Clancey, William J.; Sierhuis, Maarten; Alena, Rick; Crawford, Sekou; Dowding, John; Graham, Jeff; Kaskiris, Charis; Tyree, Kim S.; vanHoof, Ronnie

    2003-01-01

    A model-based, distributed architecture integrates diverse components in a system designed for lunar and planetary surface operations: spacesuit biosensors, cameras, GPS, and a robotic assistant. The system transmits data and assists communication between the extra-vehicular activity (EVA) astronauts, the crew in a local habitat, and a remote mission support team. Software processes ("agents"), implemented in a system called Brahms, run on multiple, mobile platforms, including the spacesuit backpacks, all-terrain vehicles, and robot. These "mobile agents" interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. Different types of agents relate platforms to each other ("proxy agents"), devices to software ("comm agents"), and people to the system ("personal agents"). A state-of-the-art spoken dialogue interface enables people to communicate with their personal agents, supporting a speech-driven navigation and scheduling tool, field observation record, and rover command system. An important aspect of the engineering methodology involves first simulating the entire hardware and software system in Brahms, and then configuring the agents into a runtime system. Design of mobile agent functionality has been based on ethnographic observation of scientists working in Mars analog settings in the High Canadian Arctic on Devon Island and the southeast Utah desert. The Mobile Agents system is developed iteratively in the context of use, with people doing authentic work. This paper provides a brief introduction to the architecture and emphasizes the method of empirical requirements analysis, through which observation, modeling, design, and testing are integrated in simulated EVA operations.

  19. Command Post Exercise Control at Division Level

    Science.gov (United States)

    1964-05-01

    soldiers. 2 While this first attempt at a war game ’t-tas desi~ned for pleasure and for the nobi lity, it set t he spark t hat kept variations of...still accomplish its purpose. The general concept of t he division level control organization has been analyzed. Now the various groupings 1-Ti...The pro ~ er understanding and application of control measures by al l control per- sonnel i s ess ent i al to the proper employment of control. Thi s

  20. 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

  1. A Cyberspace Command and Control Model

    Science.gov (United States)

    2009-02-17

    Studies, 2005. Wiener , Norbert . Cybernetics: Or the Control and Communication in the Animal and the Machine. Cambridge, Massaschusetts: MIT Press, 1948...of Systems Theory ................................................................................ 34 Figure 5: The Cybernetic Model. (Sources: Wiener ... Wiener , 1948; von Bertalanffy, 1968) Response Control Apparatus Effector Receptor Message Message Stimulus Feedback Key Characteristics of the

  2. Semi-Automatic Control of Telepresence Robots

    OpenAIRE

    Suvorov, Dmitry; Zhukov, Roman; Tsetserukou, Dzmitry; Evmenenko, Anton; Goldstein, Boris

    2017-01-01

    Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This interface is familiar to many people who play computer games but it causes difficulties for the older generation and disabled people. We present here a novel interface to control telepresence robots where the operator only specifies the destination point on the ...

  3. Command and Control Decision-Making Research.

    Science.gov (United States)

    1984-01-01

    qualifying and limiting remarks need to be stated. First, comand and control (C 2 ) can be dichotomized into strategic and tactical components. In...the elements and subelements of t Tactical Air Control System or the communications network in which the - embedded . The aircraft which are used for air...artifact which could falsely discriminate effective from ineffective decision makers: amount of knowledge. By embedding the data necessary for problem

  4. Control and Modeling of Extensible Continuum Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of this research is to develop fundamental control theory, dynamic modeling, and control technology for extensible continuum robotic manipulators. These...

  5. Detection of Botnet Command and Control Traffic in Enterprise Networks

    NARCIS (Netherlands)

    Burghouwt, P.

    2015-01-01

    Botnets play an important role in modern Internet-related cybercrime. A botnet consists of a group of infected computers, referred to as bots. The bots are remotely controlled and deployed in malicious activities, such as DDoS attacks, spam, and espionage. Clever design of the botnet C&C (Command

  6. 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)

  7. AirLand Battle and Tactical Command and Control Automation,

    Science.gov (United States)

    1987-01-07

    Requirement for Today’s Hgh Itensi Battlefield?, (School of Advanced Mihitary Studies, U.S. Armj Command and General Staff College, Fort Leavenworth...enemy’s main effort and made his decision to concentrate early enough. The emphasis on centralized control was clearly evident: "In fast - moving mounted

  8. On Optimizing Command and Control Structures

    Science.gov (United States)

    2011-06-01

    example a pendulum or train moving at a fixed speed have predictable trajectories and would have considerably lower entropic drag than systems whose...given above, we also ran each graph through two slightly modified simulations. In the first modification, a sensor node in HOLD will perform another... Efficacy (Information Flow with Actuation) To test the efficacy of different hierarchical control structures (in terms of total actuated information

  9. 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...

  10. 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)

  11. 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.

  12. Robotic vision. [process control applications

    Science.gov (United States)

    Williams, D. S.; Wilf, J. M.; Cunningham, R. T.; Eskenazi, R.

    1979-01-01

    Robotic vision, involving the use of a vision system to control a process, is discussed. Design and selection of active sensors employing radiation of radio waves, sound waves, and laser light, respectively, to light up unobservable features in the scene are considered, as are design and selection of passive sensors, which rely on external sources of illumination. The segmentation technique by which an image is separated into different collections of contiguous picture elements having such common characteristics as color, brightness, or texture is examined, with emphasis on the edge detection technique. The IMFEX (image feature extractor) system performing edge detection and thresholding at 30 frames/sec television frame rates is described. The template matching and discrimination approach to recognize objects are noted. Applications of robotic vision in industry for tasks too monotonous or too dangerous for the workers are mentioned.

  13. 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)

  14. 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.

  15. 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.

  16. Approche neuromimétique modulaire pour la commande d'un système robot-vision

    OpenAIRE

    Hermann, Gilles

    2004-01-01

    The laboratory works on the neural network control of a robot-vision system. This thesis concerns the application of artificial neural networks to control a robotic arm with visual servoing. The study focuses on modular learning to carry out neural networks controllers. We used self organizing maps to learn robotic functions which had been chosen for the simplicity of their algorithm as well as their capacity of generalization. These advantages enable us to have an online learning process, in...

  17. 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.

  18. Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

    Science.gov (United States)

    Kelley, Leah; Ostovari, Saam; Burmeister, Aaron B.; Talke, Kurt A.; Pezeshkian, Narek; Rahimi, Amin; Hart, Abraham B.; Nguyen, Hoa G.

    2015-05-01

    A novel, multi-segmented magnetic crawler robot has been designed for ship hull inspection. In its simplest version, passive linkages that provide two degrees of relative motion connect front and rear driving modules, so the robot can twist and turn. This permits its navigation over surface discontinuities while maintaining its adhesion to the hull. During operation, the magnetic crawler receives forward and turning velocity commands from either a tele-operator or high-level, autonomous control computer. A low-level, embedded microcomputer handles the commands to the driving motors. This paper presents the development of a simple, low-level, leader-follower controller that permits the rear module to follow the front module. The kinematics and dynamics of the two-module magnetic crawler robot are described. The robot's geometry, kinematic constraints and the user-commanded velocities are used to calculate the desired instantaneous center of rotation and the corresponding central-linkage angle necessary for the back module to follow the front module when turning. The commands to the rear driving motors are determined by applying PID control on the error between the desired and measured linkage angle position. The controller is designed and tested using Matlab Simulink. It is then implemented and tested on an early two-module magnetic crawler prototype robot. Results of the simulations and experimental validation of the controller design are presented.

  19. 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.

  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. 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.

  2. 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.

  3. Use of Spacecraft Command Language for Advanced Command and Control Applications

    Science.gov (United States)

    Mims, Tikiela L.

    2008-01-01

    The purpose of this work is to evaluate the use of SCL in building and monitoring command and control applications in order to determine its fitness for space operations. Approximately 24,325 lines of PCG2 code was converted to SCL yielding a 90% reduction in the number of lines of code as many of the functions and scripts utilized in SCL could be ported and reused. Automated standalone testing, simulating the actual production environment, was performed in order to generalize and gauge the relative time it takes for SCL to update and write a given display. The use of SCL rules, functions, and scripts allowed the creation of several test cases permitting the detection of the amount of time it takes update a given set of measurements given the change in a globally existing CUI or CUI. It took the SCL system an average 926.09 ticks to update the entire display of 323 measurements.

  4. An Approach to Command and Control Using Emerging Technologies

    Science.gov (United States)

    2013-06-01

    An Approach To Command and Control Using Emerging Technologies ICCRTS – 044 Dan Carpenter Air Force Research Laboratory / RISA ATTN Dan Carpenter... RISA 525 Brookes Rd Rome, NY 13441 (315) 330-7121 Report Documentation Page Form ApprovedOMB No. 0704-0188 Public reporting burden for the...PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Air Force Research Laboratory / RISA ,525

  5. Maritime Tactical Command and Control Analysis of Alternatives

    Science.gov (United States)

    2016-01-01

    Maritime Tactical Command and Control Analysis of Alternatives Bradley Wilson, Isaac R. Porche III, Mel Eisman, Michael Nixon, Shane Tierney, John ...M. Yurchak, Kim Kendall, James Dryden , Sean Critelli C O R P O R A T I O N Limited Print and Electronic Distribution Rights This document and...missile destroyer USS Ross (U.S. Navy photo by Mass Communication Specialist 2nd Class John Herman/Released). iii Preface This report is about

  6. C3I (Command, Control, Communications and Intelligence) Teradata Study.

    Science.gov (United States)

    1986-03-01

    of the Teradata DBC/1012 -4 database computer to support Command, Control, Communications and Intelligence (C3) functions. The DBC/1012 is an...database machine. The Teradata DBC/1012 has an excellent foreign file capability, good facilities to browse data, and good tools for structured queries...most current C31 systems are tightly coupled. However, when additional functions must be added to current systems, implementing them on a Teradata

  7. 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.

  8. 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

  9. 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...

  10. Control algorithms for autonomous robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Jorgensen, C.C.

    1985-09-20

    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.

  11. Distributed cooperating processes in a mobile robot control system

    Science.gov (United States)

    Skillman, Thomas L., Jr.

    1988-01-01

    A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

  12. 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

  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. 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...

  15. 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...

  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. Automatic Control of Robot Motion.

    Science.gov (United States)

    1987-12-01

    8217It. I II. FUDMWALRBTC A. INTRODUCTION d The word robotics was invented by the Isaac Asimov , one of the best of the science fiction writers, to describe...8217, Asimov propounded the famous Three Laws of Robotics. 1. A robot must not harm a human being or, through inaction, allow human being to come to harm

  18. Robust Command Filtered Adaptive Backstepping Control for a Quadrotor Aircraft

    Directory of Open Access Journals (Sweden)

    Yicheng Liu

    2018-01-01

    Full Text Available This paper addresses a robust trajectory tracking controller for an underactuated quadrotor with external bounded disturbances and unknown inertia parameters. Different from most of the existing control algorithms, the proposed method does not adopt the dual-loop scheme in which the design is divided into position control and attitude control. Instead, command filter backstepping is employed to design the controller based on the integrated motion model such that the stability can be guaranteed strictly for the flight control system. Furthermore, adaptive compensation and robust compensation are introduced to deal with the uncertainty of the inertia parameters and the external bounded disturbances, respectively. Finally, a similar skew symmetric structure is chosen as the desired structure of the closed-loop system to facilitate the analysis of the stability of the integrated system. Stability and robust performance of the designed controller are verified by Lyapunov stability theorem. Simulations are provided to validate the proposed controller.

  19. 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...

  20. Multivariable PID Controller For Robotic Manipulator

    Science.gov (United States)

    Seraji, Homayoun; Tarokh, Mahmoud

    1990-01-01

    Gains updated during operation to cope with changes in characteristics and loads. Conceptual multivariable controller for robotic manipulator includes proportional/derivative (PD) controller in inner feedback loop, and proportional/integral/derivative (PID) controller in outer feedback loop. PD controller places poles of transfer function (in Laplace-transform space) of control system for linearized mathematical model of dynamics of robot. PID controller tracks trajectory and decouples input and output.

  1. Design of multivariable controllers for robot manipulators

    Science.gov (United States)

    Seraji, H.

    1986-01-01

    The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

  2. Fire Extinguisher Robot Using Ultrasonic Camera and Wi-Fi Network Controlled with Android Smartphone

    Science.gov (United States)

    Siregar, B.; Purba, H. A.; Efendi, S.; Fahmi, F.

    2017-03-01

    Fire disasters can occur anytime and result in high losses. It is often that fire fighters cannot access the source of fire due to the damage of building and very high temperature, or even due to the presence of explosive materials. With such constraints and high risk in the handling of the fire, a technological breakthrough that can help fighting the fire is necessary. Our paper proposed the use of robots to extinguish the fire that can be controlled from a specified distance in order to reduce the risk. A fire extinguisher robot was assembled with the intention to extinguish the fire by using a water pump as actuators. The robot movement was controlled using Android smartphones via Wi-fi networks utilizing Wi-fi module contained in the robot. User commands were sent to the microcontroller on the robot and then translated into robotic movement. We used ATMega8 as main microcontroller in the robot. The robot was equipped with cameras and ultrasonic sensors. The camera played role in giving feedback to user and in finding the source of fire. Ultrasonic sensors were used to avoid collisions during movement. Feedback provided by camera on the robot displayed on a screen of smartphone. In lab, testing environment the robot can move following the user command such as turn right, turn left, forward and backward. The ultrasonic sensors worked well that the robot can be stopped at a distance of less than 15 cm. In the fire test, the robot can perform the task properly to extinguish the fire.

  3. 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.

  4. A real time OS makes the robot control more reliable

    International Nuclear Information System (INIS)

    Parisot, F.

    2011-01-01

    The INTRA GROUP produces robots that intervene in nuclear power plants in case of accidents. 3 types of robots are designed. First, robots that are earthwork machines able to clear the access to the plant. Secondly, outside robots equipped with adequate sensors able to detect and localize any source of radiation. Thirdly, robots equipped with articulate arms able to move inside buildings and to act on equipment or even to participate to the dismantling of reactors. The mains challenge is to command these robots from a safe place localized at several kilometers away from the accident. A band of 20 frequencies is used to make the signal cross most walls. The communication protocol is based on the sending of a 'table of commands' instead of a simple command. These tables lists all the commands to the robot so if a message is lost, the missing information can be retrieved from the next message. INTRA GROUP is upgrading its lines of robots by integrating off-the-shelf operating systems in order to reinforce reliability and make easier the addition of new functions to the robots. The VxWorks system has been selected. (A.C.)

  5. Multimodal Platform Control for Robotic Planetary Exploration Missions

    Science.gov (United States)

    Jorgensen, Charles; Betts, Bradley J.

    2006-01-01

    Planetary exploration missions pose unique problems for astronauts seeking to coordinate and control exploration vehicles. These include working in an environment filled with abrasive dust (e.g., regolith compositions), a desire to have effective hands-free communication, and a desire to have effective analog control of robotic platforms or end effectors. Requirements to operate in pressurized suits are particularly problematic due to the increased bulk and stiffness of gloves. As a result, researchers are considering alternative methods to perform fine movement control, for example capitalizing on higher-order voice actuation commands to perform control tasks. This paper presents current research at NASA s Neuro Engineering Laboratory that explores one method-direct bioelectric interpretation-for handling some of these problems. In this type of control system, electromyographic (EMG) signals are used both to facilitate understanding of acoustic speech in pressure-regulated suits 2nd to provide smooth analog control of a robotic platform, all without requiring fine-gained hand movement. This is accomplished through the use of non-invasive silver silver-chloride electrodes located on the forearm, throat, and lower chin, positioned so as to receive electrical activity originating from the muscles during contraction. For direct analog platform control, a small Personal Exploration Rover (PER) built by Carnegie Mellon University Robotics is controlled using forearm contraction duration and magnitudes, measured using several EMG channels. Signal processing is used to translate these signals into directional platform rotation rates and translational velocities. higher order commands were generated by differential contraction patterns called "clench codes."

  6. Design, fabrication and control of soft robots

    Science.gov (United States)

    Rus, Daniela; Tolley, Michael T.

    2015-05-01

    Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

  7. Marine Tactical Command and Control System (MTACCS), Field Development System-1 (FDS-1) assessment: Volume 2

    Energy Technology Data Exchange (ETDEWEB)

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

    1992-04-01

    The following appendices contain the detailed analysis data for the questionnaires and various FDS-1 after action reports submitted to the Marine Corps Systems Command (MARCORSYSCOM) Marine Tactical Command and Control System (MTACCS) Systems' Engineer.

  8. A Brain Machine Interface for command based control of a wheelchair using conditioning of oscillatory brain activity.

    Science.gov (United States)

    Hamad, Eyad M; Al-Gharabli, Samer I; Saket, Munib M; Jubran, Omar

    2017-07-01

    In this research a new method of wheelchair control using a Brain Computer Interface (BCI) is proposed, in an attempt to bridge the gap between in-lab and real life applications, we believe it would provide a high level control over the BCI instead of the normal low level commands. It is anticipated to emphasis on mu rhythm to provide the control signals. The wheelchair is equipped with a mapping system, which scans the area and provides a map containing information about the user's current location and next possible destinations, then provides an optimized list of possible trajectories to reach the destination. The paradigm allows users to control the interface using motor imagery and issue commands to switch between possible trajectories and then confirm the choice. Commands trigger the motion of the wheelchair to the intended destination using a user selected path with speed up to 0.5 m/s. The interface also allows the user to interact with different robots through a common robotic system. Evaluation results indicate that this paradigm is indeed usable and could lead to promising outcomes.

  9. 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...

  10. 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)

  11. 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

    interference coordination schemes. In addition, ideal Interference Cancellation (IC) scheme with ability to remove completely the dominant interferer shows less effective for UAVs than for users on the ground. On the other hand, macro network diversity has very good potential for drones, as not only......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...

  12. Virtual environment for local and remote control of a robot arm for support in engineering teaching

    Directory of Open Access Journals (Sweden)

    José T. Buitrago-Molina

    2014-01-01

    Full Text Available This paper presents the design and implementation of a virtual platform that allows simulation and local and remote command and control of the SCARA robot arm called UV-CERMA, which is installed at the Robotics Laboratory of the Escuela de Ingeniería Eléctrica y Electrónica, Facultad de Ingeniería, Universidad del Valle. The robot has been underutilized for some years due to the obsolete control system. The platform, focused on the engineering education methodology, consists of two applications which simulate the robot and permit its remote and local command and control. One of the applications was implemented on LabVIEW software of National Instruments and the other application was programmed on free software using the open source language Java. Both applications implement forward kinematics and inverse kinematics, have a module for trajectories planning and operation, a module for monitoring the values of the variables and a three dimensional model of the robot. To manipulate the robot, an interface with a joystick was developed, enhancing the versatility of the platform. The applications communicate with the real robot using the National Instruments data acquisition card NI USB-6211, and for the remote connection they have a client-server architecture using TCP/IP sockets.

  13. Structures of industrial robot controls with microcomputers

    Energy Technology Data Exchange (ETDEWEB)

    Haferkorn, P.; Schwarz, W.

    1982-01-01

    The authors explain the required tasks and basic structure of an industrial robot control system (an integrated component of the robot itself) and discusses three types of programming of process-flexible robots: direct teach-in programming; indirect teach-in programming; and textual programming where the program is first formulated, independent of the robot, in a suitable program language and then read-in to the working memory for use in the man-machine dialogue. The realization of controls for process-flexible industrial robots utilizing microcomputers is described in some detail, covering configurations for multi-computer coupling on the master-slave principle using the interconnecting electronics for the K1521 main frame unit. 8 references.

  14. Control of Speed and Power in a Humanoid Robot Arm Using Pneumatic Actuators for Human-Robot Coexisting Environment

    Science.gov (United States)

    Hoshino, Kiyoshi

    A new type of humanoid robot arm which can coexist and be interactive with human beings are looked for. For the purpose of implementation of human smooth and fast movement to a pneumatic robot, the author used a humanoid robot arm with pneumatic agonist-antagonist actuators as endoskeletons which has control mechanism in the stiffness of each joint, and the controllability was experimentally discussed. Using Kitamori's method to experimentally decide the control gains and using I-PD controller, three joints of the humanoid robot arm were experimentally controlled. The damping control algorithm was also adopted to the wrist joint, to modify the speed in accordance with the power. The results showed that the controllability to step-wise input was less than one degree in error to follow the target angles, and the time constant was less than one second. The simultaneous input of command to three joints was brought about the overshoot of about ten percent increase in error. The humanoid robot arm can generate the calligraphic motions, moving quickly at some times but slowly at other times, or particularly softly on some occasions but stiffly on other occasions at high accuracy.

  15. 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.

  16. 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

  17. Gestural Control of Robot End Effectors

    Science.gov (United States)

    Friedman, Mark B.

    1987-03-01

    Most of today's industrial robots do highly repetitive tasks that require no human intervention for extended periods of time. It is, therefore, not too wasteful of operators' time when the destination of the end effector of such a robot must be modified occasionally by reprogramming the robot controller. In contrast, where daily tasks are varied and dependent on operator perception and judgement, robots have been excluded. We are investigating the use of pointing to specify "where" and in "what orientation" a robotic action is to be performed while voice or a keypad is used to determine "which" pre-programmed subroutine is to be executed by the robotic tool at the specified site. We are evaluating the relative advantages of voice and additional gesturesfor modifying "gesture-designated" end-effector position. We believe that the combination of gesture and voice for robot control will allow shop-floor personnel to efficiently and productively supervise multiple robotic tools work-ing on non-repetitive tasks that have previously been resistant to automation.

  18. 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.

  19. Financial Audit: Financial Reporting and Internal Controls at the Air Force Systems Command

    Science.gov (United States)

    1991-01-01

    United States General Accounting Office GAO Report 1,o, the Commander, Air Force -A0 Systems Command Janar 191FINANCI-AL AUDTFI Financial Reporting ...20332 Dear General Yates: This report presents the results of our review of the Air Force Systems Command’s financial management operations. It addresses...internal control and financial reporting improvements needed within the Air Force Systems Command. The report resulted from our examination of the

  20. Apprenticeship Learning for Robotic Control

    Science.gov (United States)

    2015-10-09

    manipulation  of  deformable  objects,  which  present  the   robot  with  a  very   high...to  planning  time  and  path  quality.  We  considered   motion  planning  for  7  DOF   robot   arms ,  18  DOF... manipulation  of  deformable  objects,  which  present  the   robot  with  a  very  high-­‐

  1. Acquisition and control command system for power pulsed detectors

    CERN Document Server

    Cornat, R; Magniette, F

    2014-01-01

    A DAQ system is developed within the SiW-Ecal ILC collaboration. It provides a flexible and scalable architecture, compound of four parts. A detector interface (DIF) extracting data from front-end electronics and sending them as packets. Two levels of data concentration, control clock and fast command fanout. The two cards, named DCC and GDCC, use respectively FastEthernet and GigaEthernet. A software suite (named Calicoes) allows to control the DAQ and the detector chips and to acquire data from GigaEthernet. It also includes programs for decoding frontend readout to various formats, and also dispatching and aggregating data. Overall architecture, performance in test beam and prospects for use with hundreds of thousands channels are discussed.

  2. An Analysis of Special Operations Command - South’s Distributive Command and Control Concept

    Science.gov (United States)

    2007-12-01

    Special Ops aviation unit traverses Bermuda Triangle en route to new home”, News Service Release Number 03082525 (August 2003), http://news.soc.mil...7, 2007). U.S. Army Special Operations Command. “Special Ops Aviation Unit Traverses Bermuda Triangle En Route to New Home.” News Service Release

  3. FEATURES OF THE MOBILE ROBOTS CONTROL SYSTEMS

    Directory of Open Access Journals (Sweden)

    S. Ihnatiev

    2017-11-01

    Full Text Available The article is devoted to mobile robots. Mobile robots are devices that can move autonomously to accomplishtheir goals. As the title implies the article describes traffic guidance systems for the mobile robots. A generalized scheme of themobile robots control systems is shown. It compiles on the basis of the hierarchical principle. Attention is paid to each level of scheme. In addition, the classification of traffic guidance systems for the mobile robots is being compiled. It gives a detailedanalysis of each block of the scheme. The traffic guidance systems are considered in accordance to the degree of humanparticipation. Much attention is given to the automatic system. The necessity of involvement artificial intelligence in furtherdevelopment has been pointed out.

  4. 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...

  5. Enhanced Ground Control for ISS Robotics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This project will investigate and adapt aides which will increase the efficiency of ISS robotics ground control operations with the intent of creating more...

  6. Robust control of robots fault tolerant approaches

    CERN Document Server

    Siqueira, Adriano A G; Bergerman, Marcel

    2014-01-01

    Bridging the divide between robust control theory and its application, this volume focuses on robotic manipulators and illustrates the mathematical concepts through experimental results in reproducible detail, obtained with a two-manipulator system.

  7. 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.

  8. 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

  9. Sensor Control of Robot Arc Welding

    Science.gov (United States)

    Sias, F. R., Jr.

    1983-01-01

    The potential for using computer vision as sensory feedback for robot gas-tungsten arc welding is investigated. The basic parameters that must be controlled while directing the movement of an arc welding torch are defined. The actions of a human welder are examined to aid in determining the sensory information that would permit a robot to make reproducible high strength welds. Special constraints imposed by both robot hardware and software are considered. Several sensory modalities that would potentially improve weld quality are examined. Special emphasis is directed to the use of computer vision for controlling gas-tungsten arc welding. Vendors of available automated seam tracking arc welding systems and of computer vision systems are surveyed. An assessment is made of the state of the art and the problems that must be solved in order to apply computer vision to robot controlled arc welding on the Space Shuttle Main Engine.

  10. Robot

    OpenAIRE

    Flek, O.

    2015-01-01

    The objective of this paper is to design and produce a robot based on a four wheel chassis equipped with a robotic arm capable of manipulating small objects. The robot should be able to operate in an autonomous mode controlled by a microcontroller and in a mode controlled wirelessly by an operator in real time. Precision and accuracy of the robotic arm should be sufficient for the collection of small objects, such as syringes and needles. The entire robot should be easy to operate user-friend...

  11. 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.

  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. 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...

  14. Multi-Robot Planetary Exploration Command and Control Project

    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,...

  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. A Framework for Multi Robot Guidance Control

    Science.gov (United States)

    Keskin, Onur; Uyar, Erol

    In this paper we present a framework for path planning and path finding for multiple mobile robots with global vision. Our framework model considers the agents’ dynamic status and their environment with obstacles to perform given tasks. The global vision system provides feedback to main controller computer and mobile robots are directed towards to their tasks with avoiding obstacles and without any collision. Different kinds of scenario are prepared to simulate manipulating tasks and non-collision behavior with our framework. Experiment results with Lego Mindstorms NXT shows that our framework can be used where a multi robot system is needed with minimum resources.

  17. 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.

  18. 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

  19. Integrating Software Modules For Robot Control

    Science.gov (United States)

    Volpe, Richard A.; Khosla, Pradeep; Stewart, David B.

    1993-01-01

    Reconfigurable, sensor-based control system uses state variables in systematic integration of reusable control modules. Designed for open-architecture hardware including many general-purpose microprocessors, each having own local memory plus access to global shared memory. Implemented in software as extension of Chimera II real-time operating system. Provides transparent computing mechanism for intertask communication between control modules and generic process-module architecture for multiprocessor realtime computation. Used to control robot arm. Proves useful in variety of other control and robotic applications.

  20. 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.

  1. Toolkits Control Motion of Complex Robotics

    Science.gov (United States)

    2010-01-01

    That space is a hazardous environment for humans is common knowledge. Even beyond the obvious lack of air and gravity, the extreme temperatures and exposure to radiation make the human exploration of space a complicated and risky endeavor. The conditions of space and the space suits required to conduct extravehicular activities add layers of difficulty and danger even to tasks that would be simple on Earth (tightening a bolt, for example). For these reasons, the ability to scout distant celestial bodies and perform maintenance and construction in space without direct human involvement offers significant appeal. NASA has repeatedly turned to complex robotics for solutions to extend human presence deep into space at reduced risk and cost and to enhance space operations in low Earth orbit. At Johnson Space Center, engineers explore the potential applications of dexterous robots capable of performing tasks like those of an astronaut during extravehicular activities and even additional ones too delicate or dangerous for human participation. Johnson's Dexterous Robotics Laboratory experiments with a wide spectrum of robot manipulators, such as the Mitsubishi PA-10 and the Robotics Research K-1207i robotic arms. To simplify and enhance the use of these robotic systems, Johnson researchers sought generic control methods that could work effectively across every system.

  2. 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

  3. Introduction to Command, Control, and Communications: A Primer

    Science.gov (United States)

    1995-06-01

    CSSE Combat Service Support Element CSSOC Combat Service Support Operations Center CTAPS Contingency TACS Air Planning System CTE Commander Task Element...maker. b. C2 Analogy To illustrate the C2 process, Coakley uses the analogy of a head coach of a football team and compares it to that of a commander

  4. 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...

  5. 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

    .... In this paper I provide specific examples of three major failures of our current joint command and control structure, integrated operations, integrated planning, and unity of effort indicating...

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

    OpenAIRE

    Baira Ojeda, Ismael; Tolu, Silvia; Pacheco, Moises; Christensen, David Johan; Lund, Henrik Hautop

    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 theinternal 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 ou...

  7. Toward controlling perturbations in robotic sensor networks

    Science.gov (United States)

    Banerjee, Ashis G.; Majumder, Saikat R.

    2014-06-01

    Robotic sensor networks (RSNs), which consist of networks of sensors placed on mobile robots, are being increasingly used for environment monitoring applications. In particular, a lot of work has been done on simultaneous localization and mapping of the robots, and optimal sensor placement for environment state estimation1. The deployment of RSNs, however, remains challenging in harsh environments where the RSNs have to deal with significant perturbations in the forms of wind gusts, turbulent water flows, sand storms, or blizzards that disrupt inter-robot communication and individual robot stability. Hence, there is a need to be able to control such perturbations and bring the networks to desirable states with stable nodes (robots) and minimal operational performance (environment sensing). Recent work has demonstrated the feasibility of controlling the non-linear dynamics in other communication networks like emergency management systems and power grids by introducing compensatory perturbations to restore network stability and operation2. In this paper, we develop a computational framework to investigate the usefulness of this approach for RSNs in marine environments. Preliminary analysis shows promising performance and identifies bounds on the original perturbations within which it is possible to control the networks.

  8. 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.

  9. 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)

  10. Improved computed torque control for industrial robots

    Science.gov (United States)

    Uebel, Mark; Minis, Ioannis; Cleary, Kevin

    1992-01-01

    The authors examine the computed torque control problem for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators due to the dynamics introduced by the joint drive systems. The proposed approach overcomes this problem by combining a novel computed torque algorithm with simple torque controllers at each joint of the robot. The control scheme is applied to a seven degree-of-freedom industrial manipulator, and the system performance in standard tasks is evaluated using both dynamic simulation and actual experiments. The results show that the proposed controller leads to improved tracking performance over a conventional PD (proportional plus derivative) controller.

  11. Whole-Body Impedance Control of Wheeled Humanoid Robots

    OpenAIRE

    Dietrich, Alexander

    2015-01-01

    Introducing mobile humanoid robots into human environments requires the systems to realize soft physical contacts. In this context, the thesis presents a whole-body robot controller for dexterous physical interaction. The approach enables the robot to perform several control tasks at the same time while following a given order of priority. The theoretical results are experimentally validated on a mobile, torque-controlled humanoid robot. Relevant fields of application are service robotics or ...

  12. An intelligent robot control system for physiotherapic applications

    OpenAIRE

    Yan, Jun

    1991-01-01

    An intelligent robot control system for physiotherapic applications has been developed. The intelligent robot control system consists of a specially designed robotic hand with built-in sensors, an interfacing module between the robot system and the computer, an intelligent path planning module and a fuzzy logic based intelligent control module. The robotic hand with the integrated palm and two fingers has been used to perform the padding and kneading opeartions. Th...

  13. A spatial impedance controller for robotic manipulation

    NARCIS (Netherlands)

    Fasse, Ernest D.; Fasse, Ernest; Broenink, Johannes F.

    1997-01-01

    Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the

  14. A robust adaptive controller for robot manipulators

    NARCIS (Netherlands)

    Berghuis, Harry; Berghuis, Harry; Ortega, Romeo; Nijmeijer, Henk

    1992-01-01

    The authors propose a globally convergent adaptive control scheme for robot motion control with the following features: first, the adaptation law processes enhanced robustness with respect to noisy velocity measurements; secondly, the controller does not require the inclusion of high-gain loops that

  15. 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-

  16. 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.

  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. Design and implementation of a robot control system with traded and shared control capability

    Science.gov (United States)

    Hayati, S.; Venkataraman, S. T.

    1989-01-01

    Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.

  19. Nonlinear feedback control of multiple robot arms

    Science.gov (United States)

    Tarn, T. J.; Yun, X.; Bejczy, A. K.

    1987-01-01

    Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

  20. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    -time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed.......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...

  1. Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

    Science.gov (United States)

    Farrell, Logan C.; Strawser, Phil; Hambuchen, Kimberly; Baker, Will; Badger, Julia

    2017-01-01

    Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

  2. A Modular Approach to Redundant Robot Control

    Energy Technology Data Exchange (ETDEWEB)

    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.

  3. Design of a hybrid command and control mobile botnet

    CSIR Research Space (South Africa)

    Pieterse, H

    2013-05-01

    Full Text Available The increasing popularity and improvement in capabilities offered by smartphones caught the attention of botnet developers. Now the threat of botnets is moving towards the mobile environment. This study presents the design of a hybrid command...

  4. 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...

  5. 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.

  6. Human-Centered Command and Control of Future Autonomous Systems

    Science.gov (United States)

    2013-06-01

    fbo . or·~· .wlw:le ~diffetently!OCIDO’fKI-t Att~to••ncon~ Rn .. ntot.....ln ..... ntaf!Mt~om..,....tlom ~-diffffently(loullv)tocO<TeCtmt~Y...J. M. (2011). Display and Interface Design: Subtle Science, Exact Art. CRC Press, Boca Raton, FL. Billings, C. E. (1996). Aviation Automation: The... Aviation Psychology. Fleet Forces Command (2008). Fleet Unmanned Aircraft Systems Concept of Operations. Naval Network Warfare Command, 31 July 2008

  7. The Exercise of Control by Joint Force Commanders

    Science.gov (United States)

    2006-05-25

    holistically. The CJTF staff should include a large number of liaison officers who are trained, equipped and prepared to be embedded with cooperating...procedural recommendations embedded in them. The two are not entirely separable, but others are added here. In order to train commanders and staffs at the...commanders attending multiple orientations. Recognizing that other demands already pull comanders away from their units, we must understand that this

  8. Design principles of a cooperative robot controller

    Science.gov (United States)

    Hayward, Vincent; Hayati, Samad

    1987-01-01

    The paper describes the design of a controller for cooperative robots being designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which are based on the RCCL system and which permit a programmer to specify cooperative tasks are described. The first group of primitives are motion primitives which specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues will be discussed and the implementation described. A second set of primitives provides for the specification of spatial relationships. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a set of microprocessors sharing a common bus.

  9. Fuzzy control system for a mobile robot

    International Nuclear Information System (INIS)

    Hai Quan Dai; Dalton, G.R.; Tulenko, J.

    1992-01-01

    Since the first fuzzy logic control system was proposed by Mamdani, many studies have been carried out on industrial process and real-time controls. The key problem for the application of fuzzy logic control is to find a suitable set of fuzzy control rules. Three common modes of deriving fuzzy control rules are often distinguished and mentioned: (1) expert experience and knowledge; (2) modeling operator control actions; and (3) modeling a process. In cases where an operator's skill is important, it is very useful to derive fuzzy control rules by modeling an operator's control actions. It is possible to model an operator's control behaviors in terms of fuzzy implications using the input-output data concerned with his/her control actions. The authors use the model obtained in this way as the basis for a fuzzy controller. The authors use a finite number of fuzzy or approximate control rules. To control a robot in a cluttered reactor environment, it is desirable to combine all the methods. In this paper, the authors describe a general algorithm for a mobile robot control system with fuzzy logic reasoning. They discuss the way that knowledge of fuzziness will be represented in this control system. They also describe a simulation program interface to the K2A Cybermation mobile robot to be used to demonstrate the control system

  10. Digital command and control (C2) in electromagnetic battlespace

    Science.gov (United States)

    Kurt, Ekrem

    2013-06-01

    Military operations are executed in an increasingly complex electromagnetic environment. Over the last decade, All nations focused on improving their signal intelligence capabilities which has significantly improved intelligence support to EW. Today, there are many evolving facets of electromagnetic battlespace that include not only Electronic Attack (EA) but also improved situational awareness via information sharing and optimal positioning of Electronic Support (ES) systems.The aim is to use EW resources more intelligently in the battlespace and, by extension, improve their effectiveness. Another benefit is to provide tactical commanders with a timelier and accurate Common Operational Picture (COP) of the electromagnetic battlespace. In this study, the importance of controlling EM spectrum will be explained. The platforms and weapon systems which are used and being planned to use in the future for EM environment will be expressed. The main purpose is to help the planners who will execute the EW plan regarding to EM spectrum. The alghoritma can give planners to dynamic COP with effected sectors from enemy's EA platforms and systems. So that, planners can transmit it to friendly platforms at the same time. In addition, they can get the all needed informations related to enemy. In this way planners can easily send a message to friendly EA platforms to change the sector in order to affect the enemy. For all these reasons, it should have authority to give an order to friendly platforms about changing sector and frequency as well.

  11. The pathology of command and control: a formal synthesis

    Directory of Open Access Journals (Sweden)

    Michael Cox

    2016-09-01

    Full Text Available One of the most important theories in the study of environmental governance and policy is the pathology of command and control, which describes the negative consequences of top-down, technocratic governance of social and ecological systems. However, to date, this theory has been expressed somewhat inconsistently and informally in the literature, even by the seminal works that have established its importance and popularized it. This presents a problem for the sustainability science community if it cannot be sure of the precise details of one of its most important theories. Without such precision, applications and tests of various elements of the theory cannot be conducted reliably to advance the knowledge of environmental governance. I address this problem by synthesizing several seminal works to formalize this theory. The formalization involves the identification of the individual elements of the theory and a diagrammatic description of their relationships with each other that unfold in a series of semi-independent causal paths. Ideally, with such a formalization, scholars can use this theory more reliably and more meaningfully in their future work. I conclude by discussing the implications this theory has for the governance of natural resources.

  12. 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)

  13. 75 FR 11136 - Federal Advisory Committee; U.S. Nuclear Command and Control System Comprehensive Review...

    Science.gov (United States)

    2010-03-10

    ... DEPARTMENT OF DEFENSE Office of the Secretary Federal Advisory Committee; U.S. Nuclear Command and Control System Comprehensive Review Committee; Charter Termination AGENCY: Department of Defense (DoD... terminating the charter for the U.S. Nuclear Command and Control System Comprehensive Review Committee. FOR...

  14. Joint Command and Control (JC2) capability development utilising a Modelling and Simulation Framework

    CSIR Research Space (South Africa)

    Ramadeen, P

    2010-09-01

    Full Text Available The command, control and information warfare competency of Defence, Peace, Safety and Security (DPSS), an operating unit of the CSIR is using systems modelling and simulation in its Joint Command and Control (JC2) research. JC2 encompasses systems...

  15. Repetitive control of electrically driven robot manipulators

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  16. 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.

  17. 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.

  18. 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...

  19. Adaptive Control Strategies for Flexible Robotic Arm

    Science.gov (United States)

    Bialasiewicz, Jan T.

    1996-01-01

    The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

  20. Adaptive collaborative control of highly redundant robots

    Science.gov (United States)

    Handelman, David A.

    2008-04-01

    The agility and adaptability of biological systems are worthwhile goals for next-generation unmanned ground vehicles. Management of the requisite number of degrees of freedom, however, remains a challenge, as does the ability of an operator to transfer behavioral intent from human to robot. This paper reviews American Android research funded by NASA, DARPA, and the U.S. Army that attempts to address these issues. Limb coordination technology, an iterative form of inverse kinematics, provides a fundamental ability to control balance and posture independently in highly redundant systems. Goal positions and orientations of distal points of the robot skeleton, such as the hands and feet of a humanoid robot, become variable constraints, as does center-of-gravity position. Behaviors utilize these goals to synthesize full-body motion. Biped walking, crawling and grasping are illustrated, and behavior parameterization, layering and portability are discussed. Robotic skill acquisition enables a show-and-tell approach to behavior modification. Declarative rules built verbally by an operator in the field define nominal task plans, and neural networks trained with verbal, manual and visual signals provide additional behavior shaping. Anticipated benefits of the resultant adaptive collaborative controller for unmanned ground vehicles include increased robot autonomy, reduced operator workload and reduced operator training and skill requirements.

  1. A voice-controlled robotic assistant for neuroendoscopy.

    Science.gov (United States)

    Wapler, M; Bräucker, M; Dürr, M; Hiller, A; Stallkamp, J; Urban, V

    1999-01-01

    This paper describes experiments with a voice-controlled robot system to be used in endoscopic neurosurgery. The robot was a modified version of the robot described in previous publications of the group at Fraunhofer IPA and HSK. To control the robot a voice-controlled user interface was developed. The experiments were conducted on cadavers for three standard approaches in neuroendoscopy. The goal was to gain experience with a voice-controlled user interface and also with the set-up and use of the robotic system under clinical conditions. The results indicate that modifications to the robot and user interface are necessary. However the overall feasibility of the application was demonstrated.

  2. Analysis of behavior based control for planetary cliff descent using cooperative robots

    Science.gov (United States)

    Mumm, Erik; Farritor, Shane; Huntsberger, Terrance L.; Schenker, Paul S.

    2003-09-01

    Future robotic planetary exploration will need to traverse geographically diverse and challenging terrain. Cliffs, ravines, and fissures are of great scientific interest because they may contain important data regarding past water flow and past life. Highly sloped terrain is difficult and often impossible to safely navigate using a single robot. This paper describes a control system for a team of three robots that access cliff walls at inclines up to 70°. Two robot assistants, or anchors, lower a third robot, called the rappeller, down the cliff using tethers. The anchors use actively controlled winches to first assist the rappeller in navigation about the cliff face and then retreat to safe ground. This paper describes the control of these three robots so they function as a team to explore the cliff face. Stability requirements for safe operation are identified and a behavior-based control scheme is presented. Behaviors are defined for the system and command fusion methods are described. Controller stability and sensitivity are examined. Controller performance is evaluated with simulation and a laboratory system.

  3. Simultaneous Blind Separation and Recognition of Speech Mixtures Using Two Microphones to Control a Robot Cleaner

    OpenAIRE

    Lee, Heungkyu

    2013-01-01

    This paper proposes a method for the simultaneous separation and recognition of speech mixtures in noisy environments using two-channel based independent vector analysis (IVA) on a home-robot cleaner. The issues to be considered in our target application are speech recognition at a distance and noise removal to cope with a variety of noises, including TV sounds, air conditioners, babble, and so on, that can occur in a house, where people can utter a voice command to control a robot cleaner at...

  4. Real-Time Step Length Control Method for a Biped Robot

    Science.gov (United States)

    Aiko, Takahiro; Ohnishi, Kouhei

    In this paper, the real-time step length control method for a biped robot is proposed. In human environment, it is necessary for a biped robot to change its gait on real-time since it is required to walk according to situations. By use of the proposed method, the center-of-gravity trajectory and swing leg trajectory were generated on real-time with that its command value is the step length. For generating the center-of-gravity trajectory, we develop Linear Inverted Pendulum Mode and additionally consider walking stability by ZMP. In order to demonstrate the proposed method, the simulation and experiment of a biped walk is performed.

  5. 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.

  6. Landing Motion Control of Articulated Hopping Robot

    Directory of Open Access Journals (Sweden)

    Youngil Youm

    2008-11-01

    Full Text Available This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized. PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller.

  7. Landing Motion Control of Articulated Hopping Robot

    Directory of Open Access Journals (Sweden)

    Sanghak Sung

    2007-09-01

    Full Text Available This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized. PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller.

  8. 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...

  9. Owning the Effect: The Need for Collaboration and Compromise in Space Command and Control

    Science.gov (United States)

    2010-01-01

    and the need for sharing agreements. U.S. European Command articulated its requirement to “ own the effect ” and necessarily retain some of the...U.S. Strategic Command while the responsibility oWNiNg ThE EFFEcT The Need for Collaboration and Compromise in Space Command and Control BY lTC...COVERED 00-00-2011 to 00-00-2011 4. TITLE AND SUBTITLE Owning the Effect : The Need for Collaboration and Compromise in Space Command and

  10. Preliminary results on noncollocated torque control of space robot actuators

    Science.gov (United States)

    Tilley, Scott W.; Francis, Colin M.; Emerick, Ken; Hollars, Michael G.

    1989-01-01

    In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given.

  11. Intelligent control system of trajectory planning for a welding robot

    Science.gov (United States)

    Wang, YueHai; Chi, Ning

    2013-03-01

    Trajectory planning for the welding robot manipulator plays an important role at the intelligent control of industrial robot. The traditional robot welding method, which based on an antique welding process, was hard to control the robot intelligently. As a result, it can't meet the industrial demand of high efficiency and low energy consumption well. This paper, based on the Denavit-Hartenberg theory and Hamilton circuit ideas, optimizes the welding robot's welding task from the system energy and time respectively. The ability of self-study on track programming for manipulator was effective of industrial demand. Robot welding chip verified that this control algorithm.

  12. 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...

  13. Mearsurement and control system for agricultural robot

    Science.gov (United States)

    Sun, Tong; Zhang, Fangming; Ying, Yibin

    2006-10-01

    Automation of agricultural equipments in the near term appears both economically viable and technically feasible. This paper describes measurement and control system for agriculture robot. It consists of a computer, a pair of NIR cameras, one inclinometer, one potentionmeter and two encoders. Inclinometer, potentionmeter and encoders are used to measure obliquity of camera, turning angle of front-wheel and velocity of rear wheel, respectively. These sensor data are filtered before sending to PC. The test shows that the system can measure turning angle of front-wheel and velocity of rear wheel accurately whether robot is at stillness state or at motion state.

  14. 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.

  15. 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

  16. 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.

  17. 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...

  18. Quantitative analysis of distributed control paradigms of robot swarms

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    2010-01-01

    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...... 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...

  19. 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.

  20. 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.

  1. 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....

  2. 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.

  3. 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.

  4. Adaptive control schemes for mobile robot formations with triangularised structures

    NARCIS (Netherlands)

    Guo, J.; Lin, Z.; Cao, M.; Yan, G.

    The study investigates the leader-follower formation control problem, for which the objective is to control a group of robots such that they move as a rigid formation with a prescribed constant velocity. It is assumed in the study that there are two leader robots, who are the only robots in the

  5. 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.

  6. Crossing the Streams: Integrating Stovepipes with Command and Control

    Science.gov (United States)

    2014-08-01

    REPORT TYPE 3. DATES COVERED 00-00-2014 to 00-00-2014 4. TITLE AND SUBTITLE Crossing the Streams: Integrating Stovepipes with Command and...ATO for different types of aircraft, making it impossible for pilots to determine which other aircraft will operate in the same area at the same...graduates at the AOC and the air expeditionary task force headquarters can make this happen. They have a successful model but need to open their aper

  7. Locomotion control of hybrid cockroach robots

    Science.gov (United States)

    Sanchez, Carlos J.; Chiu, Chen-Wei; Zhou, Yan; González, Jorge M.; Vinson, S. Bradleigh; Liang, Hong

    2015-01-01

    Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroaches, wherein implanted electrodes were used to apply an electrical stimulus to the prothoracic ganglia. Using this approach, larger discoid cockroaches were engineered into a remotely controlled hybrid robotic system. Locomotion control was achieved through electrical stimulation of the prothoracic ganglia, via a remotely operated backpack system and implanted electrodes. The backpack consisted of a microcontroller with integrated transceiver protocol, and a rechargeable battery. The hybrid discoid roach was able to walk, and turn in response to an electrical stimulus to its nervous system with high repeatability of 60%. PMID:25740855

  8. 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.

  9. The role of model based control in robotics

    International Nuclear Information System (INIS)

    Harrigan, R.W.

    1990-01-01

    This paper discusses the use of model based control of industrial robots. Computer models of the robots and their operating environments are complemented with environmental sensing. This allows automatic programming of robot trajectories, hybrid force/position control and computer assist during manual operation. In addition, sensors detect error situations which may require operator attention prior to continued system operation.Computer models are also used to verify the validity of sensor data before the robotic system executes operations based upon those data

  10. Land Ahoy! Understanding Submarine Command and Control During the Completion of Inshore Operations.

    Science.gov (United States)

    Roberts, Aaron P J; Stanton, Neville A; Fay, Daniel

    2017-12-01

    The aim of this study was to use multiple command teams to provide empirical evidence for understanding communication flow, information pertinence, and tasks undertaken in a submarine control room when completing higher- and lower-demand inshore operation (INSO) scenarios. The focus of submarine operations has changed, and submarines are increasingly required to operate in costal littoral zones. However, submarine command team performance during INSO is not well understood, particularly from a sociotechnical systems perspective. A submarine control-room simulator was built. The creation of networked workstations allowed a team of nine operators to perform tasks completed by submarine command teams during INSO. The Event Analysis of Systematic Teamwork method was used to model the social, task, and information networks and to describe command team performance. Ten teams were recruited for the study, affording statistical comparisons of how command-team roles and level of demand affected performance. Results indicated that the submarine command-team members are required to rapidly integrate sonar and visual data as the periscope is used, periodically, in a "duck-and-run" fashion, to maintain covertness. The fusion of such information is primarily completed by the operations officer (OPSO), with this operator experiencing significantly greater demand than any other operator. The OPSO was a bottleneck in the command team when completing INSO, experiencing similar load in both scenarios, suggesting that the command team may benefit from data synthesis tasks being more evenly distributed within the command team. The work can inform future control-room design and command-team ways of working by identifying bottlenecks in terms of information and task flow between operators.

  11. Virtual and Actual Humanoid Robot Control with Four-Class Motor-Imagery-Based Optical Brain-Computer Interface.

    Science.gov (United States)

    Batula, Alyssa M; Kim, Youngmoo E; Ayaz, Hasan

    2017-01-01

    Motor-imagery tasks are a popular input method for controlling brain-computer interfaces (BCIs), partially due to their similarities to naturally produced motor signals. The use of functional near-infrared spectroscopy (fNIRS) in BCIs is still emerging and has shown potential as a supplement or replacement for electroencephalography. However, studies often use only two or three motor-imagery tasks, limiting the number of available commands. In this work, we present the results of the first four-class motor-imagery-based online fNIRS-BCI for robot control. Thirteen participants utilized upper- and lower-limb motor-imagery tasks (left hand, right hand, left foot, and right foot) that were mapped to four high-level commands (turn left, turn right, move forward, and move backward) to control the navigation of a simulated or real robot. A significant improvement in classification accuracy was found between the virtual-robot-based BCI (control of a virtual robot) and the physical-robot BCI (control of the DARwIn-OP humanoid robot). Differences were also found in the oxygenated hemoglobin activation patterns of the four tasks between the first and second BCI. These results corroborate previous findings that motor imagery can be improved with feedback and imply that a four-class motor-imagery-based fNIRS-BCI could be feasible with sufficient subject training.

  12. 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.

  13. 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

  14. On the Development of Learning Control for Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Dan Zhang

    2017-09-01

    Full Text Available Learning control for robotic manipulators has been developed over the past decade and to the best of the authors’ knowledge, it is still in its infant development stage; the authors believe that it will become one of the most promising directions in the control area in robotic manipulators. Learning control in robotic manipulators is mainly used to address the issue that the friction at the joints of robotic mechanisms and other uncertainties may exist in the dynamic models, which are very complex and may even be impossible to model mathematically. In this paper, the authors review and discuss the learning control in robotic manipulators and some issues in learning control for robotic manipulators are also illustrated. This review is able to give a general guideline for future research in learning control for robotic manipulators.

  15. Kinematics and Control of Robot Manipulators

    Science.gov (United States)

    Paden, Bradley Evan

    This dissertation focuses on the kinematics and control of robot manipulators. The contribution to kinematics is a fundamental theorem on the design of manipulators with six revolute joints. The theorem states, roughly speaking, that manipulators which have six revolute joints and are modeled after the human arm are optimal and essentially unique. In developing the mathematical framework to prove this theorem, we define precisely the notions of length of a manipulator, well-connected-workspace, and work-volume. We contribute to control a set of analysis techniques for the design of variable structure (sliding mode) controllers for manipulators. The organization of the dissertation is the following. After introductory remarks in chapter one, the group of proper rigid motions, G, is introduced in chapter two. The tangent bundle of G is introduced and it is shown that the velocity of a rigid body can be represented by an element in the Lie algebra of G (commonly called a twist). Further, rigid motions which are exponentials of twists are used to describe four commonly occurring subproblems in robot kinematics. In chapter three, the exponentials of twists are used to write the forward kinematic map of robot manipulators and the subproblems of chapter two are used to solve the Stanford manipulator and an elbow manipulator. Chapter four focuses on manipulator singularities. Twist coordinates are used to find critical points of the forward kinematic map. The contribution to kinematics is contained in chapter five where a mathematical framework for studying the relationship between the design of 6R manipulators and their performance is developed. Chapter seven contains the contribution to control. The work of A. F. Filippov on differential equations with discontinuous right-hand-side and the work of F. H. Clarke on generalized gradients are combined to obtain a calculus for analyzing nonsmooth gradient systems. The techniques developed are applied to design a simple

  16. 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...

  17. 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...

  18. 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...

  19. 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...

  20. Red Zones: Improving the Enemy Ground Force Situation Display in Digital Battle Command and Control Systems

    National Research Council Canada - National Science Library

    Ceralde, Ray M

    2005-01-01

    ... (the blue picture). This paper argues that the projection of enemy vehicle locations and activity through spatial analysis tools will improve the enemy ground situation display in digital battle command and control systems...

  1. 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...

  2. 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...

  3. 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...

  4. Investigation of Complex Command, Control and Communications Decisionmaking under Sustained Operations

    National Research Council Canada - National Science Library

    Elliott, Linda R; Barnes, Christopher; Brown, Leroy; Fischer, Joe; Miller, James C; Dalrymple, Mathieu; Whitmore, Jeff; Cardenas, Rebecca

    2002-01-01

    .... Preliminary data collection used a PC-based analogue of command and control simulations. The platform was developed based on cognitive and functional analysis of C3 mission, tactics, team member roles, and role interdependencies...

  5. 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...

  6. Command and Control of the Second Infantry Division - Route to a Stronger Alliance

    National Research Council Canada - National Science Library

    Stackpole, Patrick

    2004-01-01

    .... From the standpoint of peacetime maneuver and training in the increasingly restricted terrain command and control links and procedures the all-important personal ties necessary to function in Korean...

  7. 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...

  8. 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...

  9. Standardisation of command and control systems and simulator interfaces, and the definition of scenarios

    CSIR Research Space (South Africa)

    Naidoo, S

    2007-07-01

    Full Text Available The emergence of numerous command and control (C2) systems and simulators necessitate the standardisation of interfaces and the definition of scenarios to facilitate their efficient co-existence. This paper comments on the activities...

  10. Coordination of multiple robot arms

    Science.gov (United States)

    Barker, L. K.; Soloway, D.

    1987-01-01

    Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

  11. Mobile Cubesat Command and Control (Mc3) 3-Meter Dish Calibration and Capabilities

    Science.gov (United States)

    2014-06-01

    NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS Approved for public release; distribution is unlimited MOBILE CUBESAT ...REPORT TYPE AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE MOBILE CUBESAT COMMAND AND CONTROL (MC3) 3-METER DISH CALIBRATION AND CAPABILITIES...release; distribution is unlimited 12b. DISTRIBUTION CODE A 13. ABSTRACT (maximum 200 words) The Mobile CubeSat Command and Control (MC3

  12. 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.

  13. Autonomous Robot Control via Autonomy Levels (ARCAL)

    Science.gov (United States)

    2015-08-21

    10 LINCOLN LABORATORY JOURNAL ■ VOLUME 22, 2015 Autonomous Robot Control via Autonomy Levels (ARCAL) Lawrence A.M. Bush and Andrew Wang In the...Adjustable autonomy technolo- gies, concepts, and simulation environments to evaluate teaming behaviors will enable researchers to develop these systems...A damaged nuclear energy facility also Unmanned aircraft systems (UAS) need to handle more autonomy and perform more intelligent behaviors. These

  14. "Wink to grasp" - comparing eye, voice & EMG gesture control of grasp with soft-robotic gloves.

    Science.gov (United States)

    Noronha, Bernardo; Dziemian, Sabine; Zito, Giuseppe A; Konnaris, Charalambos; Faisal, A Aldo

    2017-07-01

    The ability of robotic rehabilitation devices to support paralysed end-users is ultimately limited by the degree to which human-machine-interaction is designed to be effective and efficient in translating user intention into robotic action. Specifically, we evaluate the novel possibility of binocular eye-tracking technology to detect voluntary winks from involuntary blink commands, to establish winks as a novel low-latency control signal to trigger robotic action. By wearing binocular eye-tracking glasses we enable users to directly observe their environment or the actuator and trigger movement actions, without having to interact with a visual display unit or user interface. We compare our novel approach to two conventional approaches for controlling robotic devices based on electromyo-graphy (EMG) and speech-based human-computer interaction technology. We present an integrated software framework based on ROS that allows transparent integration of these multiple modalities with a robotic system. We use a soft-robotic SEM glove (Bioservo Technologies AB, Sweden) to evaluate how the 3 modalities support the performance and subjective experience of the end-user when movement assisted. All 3 modalities are evaluated in streaming, closed-loop control operation for grasping physical objects. We find that wink control shows the lowest error rate mean with lowest standard deviation of (0.23 ± 0.07, mean ± SEM) followed by speech control (0.35 ± 0. 13) and EMG gesture control (using the Myo armband by Thalamic Labs), with the highest mean and standard deviation (0.46 ± 0.16). We conclude that with our novel own developed eye-tracking based approach to control assistive technologies is a well suited alternative to conventional approaches, especially when combined with 3D eye-tracking based robotic end-point control.

  15. 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...

  16. Operational Command and Control of Joint Task Force Cyberspace Operations

    Science.gov (United States)

    2008-05-27

    is the “coordination and cooperation towar objectives”55 which “can be achieved either through Unity of Command ( UoC ) or through cooperation.”56...According to Dr. Vego, “the highest degree of effectiveness is ensured by having UoE though UoC ” and “failure to establish UoC results in a state of...offers an adversary the ability to do the same to friendly forces. According to Dr. Vego, “without [ UoC ] the [JTF] cannot bring all available forces to

  17. Young Children Using Assistive Robotics for Discovery and Control.

    Science.gov (United States)

    Cook, Albert M.; Cavalier, Albert R.

    1999-01-01

    Discusses the use of robotics with children with severe disabilities. Spotlights a toddler with developmental delays and quadriplegic athetoid cerebral palsy who is able to use a robotic arm and computer control systems to reach and manipulate objects. Provides guidelines for selecting and using assistive robotics. (CR)

  18. 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.

  19. 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.

  20. Intuitive control of robotic manipulators

    Science.gov (United States)

    Rusbarsky, David; Gray, Jeremy; Peters, Douglas

    2011-05-01

    Under a research effort sponsored by the U.S. Army Tank Automotive Research, Development, and Engineering Center (TARDEC), we are exploring technologies that can be used to provide an operator with the ability to more intuitively control high-degree of freedom arms while providing the operator with haptic feedback to more effectively interact with the environment. This paper highlights the results of the research as well as early test results on a number of prototype systems currently in development. We will demonstrate advantages and disadvantages of some of the leading approaches to intuitive control and haptic feedback.

  1. Software development to support sensor control of robot arc welding

    Science.gov (United States)

    Silas, F. R., Jr.

    1986-01-01

    The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.

  2. 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.

  3. Lattice Automata for Control of Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Støy, Kasper

    2015-01-01

    Self-reconfigurable robots are built from robotic modules typically organised in a lattice. The robotic modules themselves are complete, although simple, robots and have onboard batteries, actuators, sensors, processing power, and communication capabilities. The modules can automatically connect...... to and disconnect from neighbour modules and move around in the lattice of modules. The self-reconfigurable robot as a whole can, through this automatic rearrangement of modules, change its own shape to adapt to the environment or as a response to new tasks. Potential advantages of self-reconfigurable robots...... 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...

  4. Behavior-Based Formation Control of Swarm Robots

    Directory of Open Access Journals (Sweden)

    Dongdong Xu

    2014-01-01

    Full Text Available Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.

  5. Model predictive control for cooperative control of space robots

    Science.gov (United States)

    Kannan, Somasundar; Alamdari, Seyed Amin Sajadi; Dentler, Jan; Olivares-Mendez, Miguel A.; Voos, Holger

    2017-01-01

    The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.

  6. The Combat Cloud: Enabling Multi-Domain Command and Control Across the Range of Military Operations

    Science.gov (United States)

    2017-03-01

    AIR COMMAND AND STAFF COLLEGE AIR UNIVERSITY THE COMBAT CLOUD ENABLING MULTI-DOMAIN COMMAND AND CONTROL ACROSS THE RANGE OF MILITARY...trend also conflicts with the air component’s preference for a relatively close FSCL that allows a larger area for AI. FSCMs that can be updated...convention: The Navy and the Air Force aren’t necessarily on the same sheet of music when it comes to network collaboration and advanced tactical

  7. Study of controlled motion bionic mini robot

    Science.gov (United States)

    Politov, E. N.; Rukavitsyn, A. N.

    2017-10-01

    The article describes a dynamic model of a bionic mini-robot capable of moving on a rough surface or separately from it. Differential equations describing the robot’s motion in the phases of flight and movement on the support surface were obtained. The debalance’s angular velocity was used as the controlled parameter. The results of numerical modelling of the equations of motion supported theoretical conclusions on the character of the dependence of height and length of a jump on the frequency of rotation. It was simultaneously established that the shape of the trajectory of the center of mass depends on the controlled parameter.

  8. 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.

  9. Force/position control of a robot manipulator for human-robot interaction

    Directory of Open Access Journals (Sweden)

    Neranon Paramin

    2016-01-01

    Full Text Available With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

  10. 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.

  11. Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation

    Directory of Open Access Journals (Sweden)

    Concepción A. Monje

    2008-01-01

    Full Text Available The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.

  12. 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.

  13. 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.

  14. Google glass-based remote control of a mobile robot

    Science.gov (United States)

    Yu, Song; Wen, Xi; Li, Wei; Chen, Genshe

    2016-05-01

    In this paper, we present an approach to remote control of a mobile robot via a Google Glass with the multi-function and compact size. This wearable device provides a new human-machine interface (HMI) to control a robot without need for a regular computer monitor because the Google Glass micro projector is able to display live videos around robot environments. In doing it, we first develop a protocol to establish WI-FI connection between Google Glass and a robot and then implement five types of robot behaviors: Moving Forward, Turning Left, Turning Right, Taking Pause, and Moving Backward, which are controlled by sliding and clicking the touchpad located on the right side of the temple. In order to demonstrate the effectiveness of the proposed Google Glass-based remote control system, we navigate a virtual Surveyor robot to pass a maze. Experimental results demonstrate that the proposed control system achieves the desired performance.

  15. Go Deeper, Go Deeper: Understanding submarine command and control during the completion of dived tracking operations.

    Science.gov (United States)

    Roberts, Aaron P J; Stanton, Neville A; Fay, Daniel T

    2018-05-01

    This is a world's first-of-a-kind study providing empirical evidence for understanding submarine control room performance when completing higher and lower demand Dived Tracking (DT) scenarios. A submarine control room simulator was built, using a non-commercial version of Dangerous Waters as the simulation engine. The creation of networked workstations allowed a team of nine operators to perform tasks completed by submarine command teams during DT. The Event Analysis of Systemic Teamwork (EAST) method was used to model the social, task and information networks and describe command team performance. Ten teams were recruited for the study, affording statistical comparisons of how command team roles and level of demand affected performance. Results indicate that command teams can covertly DT a contact differently depending on demand (e.g. volume of contacts). In low demand it was possible to use periscope more often than in high demand, in a 'duck-and-run' fashion. Therefore, the type of information and frequency of particular task completion, was significantly different between the higher and lower demand conditions. This resulted in different operators in the command team experiencing greater demand depending on how the DT mission objective was completed. Potential bottlenecks in the command team were identified and implications are discussed alongside suggestions for future work. Copyright © 2018 Elsevier Ltd. All rights reserved.

  16. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

    Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.

  17. Reactive navigational controller for autonomous mobile robots

    Science.gov (United States)

    Hawkins, Scott

    1993-12-01

    Autonomous mobile robots must respond to external challenges and threats in real time. One way to satisfy this requirement is to use a fast low level intelligence to react to local environment changes. A fast reactive controller has been implemented which performs the task of real time local navigation by integrating primitive elements of perception, planning, and control. Competing achievement and constraint behaviors are used to allow abstract qualitative specification of navigation goals. An interface is provided to allow a higher level deliberative intelligence with a more global perspective to set local goals for the reactive controller. The reactive controller's simplistic strategies may not always succeed, so a means to monitor and redirect the reactive controller is provided.

  18. Model tracking controller design of robot manipulator system with disturbances

    Directory of Open Access Journals (Sweden)

    Dazhong Wang

    2015-06-01

    Full Text Available In the model tracking control of robot manipulator system, the treatment of nonlinear uncertainty in the system has always been an active research field. This article establishes a kinetic equation for robot manipulator system based on Lagrange equation and proposes a model tracking control system based on differential divisor. On this basis, this article proposes a model tracking control scheme for robot manipulator systems with disturbances. The proposed scheme is robust stable under the external disturbances. At last, the system simulation approach is employed to verify the effectiveness of this scheme on robot manipulator control.

  19. 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.

  20. 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.

  1. Design and control of a macro-micro robot for precise force applications

    Science.gov (United States)

    Wang, Yulun; Mangaser, Amante; Laby, Keith; Jordan, Steve; Wilson, Jeff

    1993-01-01

    Creating a robot which can delicately interact with its environment has been the goal of much research. Primarily two difficulties have made this goal hard to attain. The execution of control strategies which enable precise force manipulations are difficult to implement in real time because such algorithms have been too computationally complex for available controllers. Also, a robot mechanism which can quickly and precisely execute a force command is difficult to design. Actuation joints must be sufficiently stiff, frictionless, and lightweight so that desired torques can be accurately applied. This paper describes a robotic system which is capable of delicate manipulations. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system. Delicate force tasks such as polishing, finishing, cleaning, and deburring, are the target applications of the robot.

  2. 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.

  3. Control Robotics Programming Technology. Technology Learning Activity. Teacher Edition.

    Science.gov (United States)

    Oklahoma State Dept. of Vocational and Technical Education, Stillwater. Curriculum and Instructional Materials Center.

    This Technology Learning Activity (TLA) for control robotics programming technology in grades 6-10 is designed to teach students to construct and program computer-controlled devices using a LEGO DACTA set and computer interface and to help them understand how control technology and robotics affect them and their lifestyle. The suggested time for…

  4. Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

    Directory of Open Access Journals (Sweden)

    Rodríguez-Liñán María del Carmen

    2017-03-01

    Full Text Available A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces.

  5. Speech Understanding in Noise in the Bison Command, Control, Communications and Intelligence (C3I) Mobile Command Post (MCP)

    Science.gov (United States)

    2010-12-01

    communication et renseignement (C3I) du Bison. Les messages ont été présentés en mode silencieux ou en présence d’un bruit de fond qu’on entend dans...commandement, contrôle, communication et renseignement (C3I) du Bison. L’objectif final de la présente recherche est l’atténuation de la surcharge...soit d’un casque d’écoute dans le poste de commandement mobile (MCP) de commandement, contrôle, communication et renseignement (C3I) du Bison. Les

  6. 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

  7. Modeling and Control of Wheeled Mobile Robots.

    Science.gov (United States)

    Muir, Patrick Fred

    The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We identify six special WMR characteristics (closed-chains, higher-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary manipulators. Then, we develop methodologies for the kinematic and dynamic modeling of robotic mechanisms incorporating these special characteristics. We introduce instantaneously coincident coordinate systems and the wheel Jacobian to resolve WMR kinematic modeling. We introduce the concepts of force/torque propagation and frictional coupling at a joint to formulate a powerful unifying dynamic modeling framework. We compute the inverse and forward kinematic and dynamic solutions for model-based WMR servo-control and simulation. We demonstrate the applicability of (kinematics -based) resolved motion rate and (dynamics-based) resolved acceleration servo-control methodologies to WMRs through computer simulation evaluation studies. We exemplify our modeling and servo-control methodologies through Uranus, a three degree-of-freedom (DOF) WMR, and Bicsun-Bicas, a two DOF WMR. Our results show that resolved motion rate servo-control is adequate for general-purpose applications of Uranus. In contrast, the mechanically simpler Bicsun -Bicas requires the computationaly complex resolved acceleration servo-control to compensate for the significant coupling and nonlinear components in its dynamic model. We recommend Bicsun-Bicas with resolved acceleration servo-control for general-purpose indoor applications because it is mechanically simple, capable of tracking any spatial x-y path, and if a turret is added, provides onboard manipulators, sensors, or docking instruments with three DOFs.

  8. A Coordinated Control Architecture for Disaster Response Robots

    Science.gov (United States)

    2016-01-01

    A COORDINATED CONTROL ARCHITECTURE FOR DISASTER RESPONSE ROBOTS TRACLABS, INC MARCH 2016 FINAL TECHNICAL REPORT APPROVED FOR PUBLIC RELEASE...COORDINATED CONTROL ARCHITECTURE FOR DISASTER RESPONSE ROBOTS 5a. CONTRACT NUMBER FA8750-12-C-0288 5b. GRANT NUMBER N/A 5c. PROGRAM ELEMENT NUMBER...TRACLabs participated in the DARPA Robotics Challenge as a Track B team (developing software only). Keeping the human operator in the loop as much as

  9. Internet remote control interface for a multipurpose robotic arm

    OpenAIRE

    Wronka, Cyprian M.; Dunnigan, Matthew W.

    2006-01-01

    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 consis...

  10. Robotics

    Indian Academy of Sciences (India)

    computed torque method or feedback linearization. Hence, the resultant system is linear and for this the controller is easier to design. Software. Software, in addition to acting as a binding thread for the various robot subsystems, plays an important role in control. Physical devices like amplifiers, integrators, differentiators, etc.

  11. Individual muscle control using an exoskeleton robot for muscle function testing.

    Science.gov (United States)

    Ueda, Jun; Ming, Ding; Krishnamoorthy, Vijaya; Shinohara, Minoru; Ogasawara, Tsukasa

    2010-08-01

    Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in movement control due primarily to their inability to modulate their muscle activation pattern in an appropriate manner. A functionality test at the level of individual muscles that investigates the activity of a muscle of interest on various motor tasks may enable muscle-level force grading. To date there is no extant work that focuses on the application of exoskeleton robots to induce specific muscle activation in a systematic manner. This paper proposes a new method, named "individual muscle-force control" using a wearable robot (an exoskeleton robot, or a power-assisting device) to obtain a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by hand. A computational algorithm systematically computes control commands to a wearable robot so that a desired muscle activation pattern for target muscle forces is induced. It also computes an adequate amount and direction of a force that a subject needs to exert against a handle by his/her hand. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests on target muscles by arbitrarily inducing muscle activation patterns. This paper presents a basic concept, mathematical formulation, and solution of the individual muscle-force control and its implementation to a muscle control system with an exoskeleton-type robot for upper extremity. Simulation and experimental results in healthy individuals justify the use of an exoskeleton robot for future muscle function testing in terms of the variety of muscle activity data.

  12. 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...

  13. Position control of an industrial robot using fractional order controller

    Science.gov (United States)

    Clitan, Iulia; Muresan, Vlad; Abrudean, Mihail; Clitan, Andrei; Miron, Radu

    2017-02-01

    This paper presents the design of a control structure that ensures no overshoot for the movement of an industrial robot, used for the evacuation of round steel blocks from inside a rotary hearth furnace. First, a mathematical model for the positioning system is derived from a set of experimental data, and further, the paper focuses on obtaining a PID type controller, using the relay method as tuning method in order to obtain a stable closed loop system. The controller parameters are further tuned in order to achieve the imposed set of performances for the positioning of the industrial robot through computer simulation, using trial and error method. Further, a fractional - order PID controller is obtained in order to improve the control signal variation, so as to fit within the range of unified current's variation, 4 to 20 mA.

  14. Levels of autonomy control approach for mobile robots

    Science.gov (United States)

    Moorehead, Stewart J.

    2003-09-01

    Increasingly mobile robots are finding applications in the military, mining, nuclear and agriculture industries. These fields require a robot capable of operating in a highly unstructured and changing environment. Current autonomous control techniques are not robust enough to allow successful operation at all times in these environments. Teleoperation can help with many tasks but causes operator fatigue and negates much of the economic advantages of using robots by requiring one person per robot. This paper introduces a control system for mobile robots based on the concept of levels of autonomy. Levels of autonomy recognizes that control can be shared between the operator and robot in a continuous fashion from teleoperation to full autonomy. By sharing control, the robot can benefit from the operator's knowledge of the world to help extricate it from difficult situations. The robot can operate as autonomously as the situation allows, reducing operator fatigue and increasing the economic benefit by allowing a single operator to control multiple robots simultaneously. This paper presents a levels of autonomy control system developed for use in exploration or reconnaissance tasks.

  15. 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......-modal hybrid automata. The notion of bisimulations is used to abstract robots in the network. The result is a network of interacting timed automata which allows coordination among the robots and timing constraints to be considered. The model checker UPPAAL is used for formal symbolic model checking against...

  16. 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 ...

  17. 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.

  18. 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.

  19. Distributed Estimation and Control for Robotic Networks

    NARCIS (Netherlands)

    Simonetto, A.

    2012-01-01

    Mobile robots that communicate and cooperate to achieve a common task have been the subject of an increasing research interest in recent years. These possibly heterogeneous groups of robots communicate locally via a communication network and therefore are usually referred to as robotic networks.

  20. 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.

  1. 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.

  2. Current commands for high-efficiency torque control of DC shunt motor

    OpenAIRE

    Funabiki, Shigeyuki; Fukushima, T.

    1991-01-01

    The current commands for a high-efficiency torque control of a DC shunt motor are described. In the proposed control method, the effect of a magnetic saturation and an armature reaction are taken into account by representing the coefficients of an electromotive force and a torque as a function of the field current, the armature current and the revolving speed. The current commands at which the loss of the motor drive system becomes a minimum are calculated as an optimal problem. The proposed ...

  3. Command Filtering-Based Fuzzy Control for Nonlinear Systems With Saturation Input.

    Science.gov (United States)

    Yu, Jinpeng; Shi, Peng; Dong, Wenjie; Lin, Chong

    2017-09-01

    In this paper, command filtering-based fuzzy control is designed for uncertain multi-input multioutput (MIMO) nonlinear systems with saturation nonlinearity input. First, the command filtering method is employed to deal with the explosion of complexity caused by the derivative of virtual controllers. Then, fuzzy logic systems are utilized to approximate the nonlinear functions of MIMO systems. Furthermore, error compensation mechanism is introduced to overcome the drawback of the dynamics surface approach. The developed method will guarantee all signals of the systems are bounded. The effectiveness and advantages of the theoretic result are obtained by a simulation example.

  4. 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.

  5. A passivity approach to controller-observer design for robots

    NARCIS (Netherlands)

    Berghuis, Harry; Berghuis, Harry; Nijmeijer, Henk

    1993-01-01

    Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate

  6. 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.

  7. 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.

  8. 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.

  9. Formation control for a network of small-scale robots.

    Science.gov (United States)

    Kim, Yoonsoo

    2014-10-01

    In this paper, a network of small-scale robots (typically centimeter-scale robots) equipped with artificial actuators such as electric motors is considered. The purpose of this network is to have the robots keep a certain formation shape (or change to another formation shape) during maneuvers. The network has a fixed communication topology in the sense that robots have a fixed group of neighbors to communicate during maneuvers. Assuming that each robot and its actuator can be modeled as a linear system, a decentralized control law (such that each robot activates its actuator based on the information from its neighbors only) is introduced to achieve the purpose of formation keeping or change. A linear matrix inequality (LMI) for deriving the upper bound on the actuator's time constant is also presented. Simulation results are shown to demonstrate the merit of the introduced control law.

  10. NASA Thermal Control Technologies for Robotic Spacecraft

    Science.gov (United States)

    Swanson, Theodore D.; Birur, Gajanana C.

    2003-01-01

    Technology development is inevitably a dynamic process in search of an elusive goal. It is never truly clear whether the need for a particular technology drives its development, or the existence of a new capability initiates new applications. Technology development for the thermal control of spacecraft presents an excellent example of this situation. Nevertheless, it is imperative to have a basic plan to help guide and focus such an effort. Although this plan will be a living document that changes with time to reflect technological developments, perceived needs, perceived opportunities, and the ever-changing funding environment, it is still a very useful tool. This presentation summarizes the current efforts at NASA/Goddard and NASA/JPL to develop new thermal control technology for future robotic NASA missions.

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

    Science.gov (United States)

    2015-09-01

    shafts. In [28], the robot’s pose , position and heading in the world coordinate frame, is calculated utilizing encoder dead - reckoning . First, the...36 Figure 23. Example images of path planning algorithms that can be used in the...undetectable by the sonar-range sensors of the Pioneer P3-DX mobile robot platform, were investigated. An algorithm to process and analyze the point

  12. 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

  13. Microprocessor enhanced real time manual control of an industrial robot

    Energy Technology Data Exchange (ETDEWEB)

    Yount, J.A.; Phillips, R.H.

    1983-09-14

    Remote handling using commercial robotic devices can be a viable approach for manipulating hazardous materials. However, these operations can result in unforeseen situations that require interruption of a robot program, followed by manual adjustment to the path and subsequent resumption of program control. A microcomputer and precision joystick controller interfaced with the control unit of the robot provide an effective means of achieving this from a remote location. The paper will describe ongoing collaborative research between Westinghouse Hanford Company and the Robotics and Automation Laboratory of the University of Illinois at Chicago for achieving such control from a remote location. This paper discusses the approach being used to achieve real time control from a remote location and a microcomputer based system that has been constructed for a Cincinnati Milacron T3 hydraulic robot.

  14. Motion Control of the Soccer Robot Based on Fuzzy Logic

    Science.gov (United States)

    Coman, Daniela; Ionescu, Adela

    2009-08-01

    Robot soccer is a challenging platform for multi-agent research, involving topics such as real-time image processing and control, robot path planning, obstacle avoidance and machine learning. The conventional robot control consists of methods for path generation and path following. When a robot moves away the estimated path, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. This paper describes the use of fuzzy logic control for the low level motion of a soccer robot. Firstly, the modelling of the soccer robot is presented. The soccer robot based on MiroSoT Small Size league is a differential-drive mobile robot with non-slipping and pure-rolling. Then, the design of fuzzy controller is describes. Finally, the computer simulations in MATLAB Simulink show that proposed fuzzy logic controller works well.

  15. Roll, Pitch and Yaw Torque Control for a Robotic Bee

    OpenAIRE

    Finio, Benjamin

    2012-01-01

    In the last decade, the robotics community has pushed to develop increasingly small, autonomous flapping-wing robotic vehicles for a variety of civilian and military applications. The miniaturization of these vehicles has pushed the boundaries of technology in many areas, including electronics, artificial intelligence, and mechanics; as well as our understanding of biology. In particular, at the insect scale, fabrication, actuation, and flight control of a flapping-wing robot become especiall...

  16. Automation Architecture for Single Operator, Multiple UAV Command and Control

    National Research Council Canada - National Science Library

    Cummings, M. L; Bruni, S; Mercier, S; Mitchell, P. J

    2007-01-01

    .... The OSD Roadmap clearly delineates the need to investigate the "appropriate conditions and requirements under which a single pilot would be allowed to control multiple airborne UA (unmanned aircraft) simultaneously...

  17. Photovoltaic System Equipped with Digital Command Control and Acquisition

    OpenAIRE

    Yaden, Med; Melhaoui, Mustapha; Gaamouche, Rajae; Hirech, Kamal; Baghaz, Elhadi; Kassmi, Khalil

    2013-01-01

    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 i...

  18. 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%.

  19. 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.

  20. 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.

  1. 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.

  2. 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).

  3. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

  4. Mobile CubeSat Command and Control (MC3)

    Science.gov (United States)

    2011-09-01

    requirements are the standard YAESU rotor, an ICOM radio, and a Terminal Node Controller (TNC). Currently, GENSO has released its first software version and...antennas input into EL- CID: Nomenclature Purpose ICOM 9100 radio (2) Transceiver GDP radio Receiver Yagi Antenna 450 MHz antenna 917 Yagi Antenna 915

  5. Conceptual Design and Analysis of Service Oriented Architecture (SOA) for Command and Control of Space Assets

    Science.gov (United States)

    2010-12-01

    appropri ocument po case the foll Provide a Build, app Manage th e 3 To-be N gy lays out prise. Exam of SOA the ervices: Ma ately secure ints out that...Department of Defense, or the U.S. Government. AFIT/GSE/ENV/10-D04DL CONCEPTUAL DESIGN AND ANALYSIS OF SERVICE ORIENTED ARCHITECTURE ( SOA ) FOR COMMAND...UNLIMITED AFIT/GSE/ENV/10-D04DL CONCEPTUAL DESIGN AND ANALYSIS OF SERVICE ORIENTED ARCHITECTURE ( SOA ) FOR COMMAND AND CONTROL OF SPACE ASSETS

  6. 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...

  7. 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).

  8. 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

  9. Improving Command and Control in the Mexican Army and Air Force to Support Land Operations

    Science.gov (United States)

    2017-06-09

    Facilities and Policy FLIR Forward Looking Infrared System FMF Fleet Marine Force FM Field Manual GDP Gross Domestic Product GPS Global Positioning...world market , this thesis will attempt to present optimal solutions to improve Command and Control in support of land operations. Significance of...researched manuals and public documents was considered employing criteria that meets validity, reliability, practicability, suitability and

  10. 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.

  11. Issues of Control and Command in Digital Design and Architectural Computation

    NARCIS (Netherlands)

    Chaszar, A.T.

    2016-01-01

    Issues of control and command in architecture are considered here via reflections on recent and current research projects concerning digital technologies. The projects’ topics cover a range of scales and approaches, from the planning and design of urban ensembles to the detailing of panels for

  12. A Cyberspace Command and Control Model (Maxwell Paper, Number 47)

    Science.gov (United States)

    2009-08-01

    Norbert Wiener , Cyber- netics: Or the Control and Communication in the Animal and the Machine [Cambridge, MA: MIT Press, 1948]; and Ludwig von Bertalanffy...or external change has successfully aligned with the system’s goal. Cybernetic Model The Basic Cybernetic Model (sources: Wiener , 1948; von... Wiener , 1948) EMERGED OUT OF WWII AND IS THE FOUNDATION OF THE OVERWHELMING MAJORITY OF C2 MODELS Figure 4 The Cybernetic Model. (Adapted from

  13. Developing portable user interfaces for Ada command control software

    OpenAIRE

    Sun, Chien Hsiung

    1990-01-01

    Approved for public release, distribution unlimited DoD mandated use of Ada for embedded systems include Combat and Control System such as shipboard Combat Direction System (CDS). A Low Cost CDS (LCCDS) which will use commercial workstation platforms will require interfacing Ada real-time programs with portable windowing environment such as X Windows. This thesis explores several methods for building X Windows based user interface for Ada C2 programs and provides a step-by-step approach to...

  14. Describing the Elephant: Framing a Discussion on Command and Control

    Science.gov (United States)

    2014-08-01

    adversary “turns off” space. Sixth, the importance of C2 increases with operational complexity and cultural expectations about precision. In his article “C2... culture that must be matched by more elegant solutions. From Op- eration Desert Storm forward, America and its coalition partners expect ever-increasing...Contributions (Montreal: McGill-Queen’s University Press, 2007), 19–20. 2. See Lt Col Alan Docauer, “Peeling the Onion : Why Centralized Control

  15. Flatness based GPI Control for Flexible Robots

    Science.gov (United States)

    Becedas, Jonathan; Feliu, Vicente; Sira-Ramírez, Hebertt

    In this article, a new method to control a flexible robotic arm using a conventional direct current (DC) motor with a gear actuator strongly affected by non-linear friction torque is proposed. This control method does not require friction compensation and hence the estimation of this term because the control scheme is robust with respect to this effect. In addition, the only variables to measure are the motor shaft and tip angular positions. Velocity measurements, which always introduce errors and noises, are not required. The use of filters to estimate velocities and bounded derivatives are not needed. The Generalized Proportional Integral GPI controller is designed using a two-stage design procedure entitling an outer loop, designed under the assumption of no motor dynamics, and subsequently an inner loop which forces the motor response to track the control input position reference trajectory derived in the previous design stage. Velocity measurements, which always introduce errors and noises, are not required. Experimental results are presented.

  16. Fault-Tolerant Control For A Robotic Inspection System

    Science.gov (United States)

    Tso, Kam Sing

    1995-01-01

    Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.

  17. Affordance Templates for Shared Robot Control

    Science.gov (United States)

    Hart, Stephen; Dinh, Paul; Hambuchen, Kim

    2014-01-01

    This paper introduces the Affordance Template framework used to supervise task behaviors on the NASA-JSC Valkyrie robot at the 2013 DARPA Robotics Challenge (DRC) Trials. This framework provides graphical interfaces to human supervisors that are adjustable based on the run-time environmental context (e.g., size, location, and shape of objects that the robot must interact with, etc.). Additional improvements, described below, inject degrees of autonomy into instantiations of affordance templates at run-time in order to enable efficient human supervision of the robot for accomplishing tasks.

  18. 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.)

  19. 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 ...

  20. Comparison of human and humanoid robot control of upright stance.

    Science.gov (United States)

    Peterka, Robert J

    2009-01-01

    There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the

  1. 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.

  2. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an

  3. 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.

  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...

  5. 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.

  6. Robust Neural Sliding Mode Control of Robot Manipulators

    International Nuclear Information System (INIS)

    Nguyen Tran Hiep; Pham Thuong Cat

    2009-01-01

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method

  7. 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.

  8. Disturbance rejection in formation keeping control of nonholonomic wheeled robots

    NARCIS (Netherlands)

    Jafarian, Matin; Vos, Ewoud; De Persis, Claudio; Scherpen, Jacquelien; Schaft, van der Arjan

    2016-01-01

    This paper presents the results of formation keeping control of a group of nonholonomic wheeled robots within the port-Hamiltonian framework and in the presence of matched input disturbances. Two scenarios on the internal damping of the dynamics of the robots are considered: strictly output passive

  9. Flexible Morphogenesis based Formation Control for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jan Carlo Barca

    2012-09-01

    Full Text Available Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.

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

    African Journals Online (AJOL)

    Robotic excavator is a hydraulic actuated 4 DOF manipulator mounted on a mobile chassis which implements automatic excavations. This article reviews modeling, identification, and low level control of the robotic excavator. First, modeling of the nonlinear hydraulic dynamics, coupling manipulator dynamics, and soil-tool ...

  11. Humanoid Robot Balance Control using the Spherical Inverted Pendulum Model

    Directory of Open Access Journals (Sweden)

    Ahmed eElhasairi

    2015-10-01

    Full Text Available Human beings are highly efficient in maintaining standing balance under the influence of different perturbations. However, biped humanoid robots are far from exhibiting similar skills. This is mainly due to the limitations in the current control and modelling techniques used in humanoid robots. Even though approaches using the Linear Inverted Pendulum Model and the Preview Control schemes have shown improved results, they still suffer from shortcomings in the overall generated motion. We propose here a model and control approach that aims to overcome the limiting assumptions in the LIPM models, through using the ankle joint variables in modelling and control of the standing balance of the humanoid robot.

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

    Directory of Open Access Journals (Sweden)

    Vittorio Lippi

    2017-09-01

    Full Text Available 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

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. Lateral balance control for robotic gait training

    NARCIS (Netherlands)

    Koopman, Bram; Meuleman, Jos; van Asseldonk, Edwin H.F.; van der Kooij, Herman

    2013-01-01

    For the rehabilitation of neurological patients robot-aided gait training is increasingly being used. Lack of balance training in these robotic gait trainers might contribute to the fact that they do not live up to the expectations. Therefore, in this study we developed and evaluated an algorithm to

  19. Remote Control and Children's Understanding of Robots

    Science.gov (United States)

    Somanader, Mark C.; Saylor, Megan M.; Levin, Daniel T.

    2011-01-01

    Children use goal-directed motion to classify agents as living things from early in infancy. In the current study, we asked whether preschoolers are flexible in their application of this criterion by introducing them to robots that engaged in goal-directed motion. In one case the robot appeared to move fully autonomously, and in the other case it…

  20. 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.

  1. 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.

  2. Design process and tools for dynamic neuromechanical models and robot controllers.

    Science.gov (United States)

    Szczecinski, Nicholas S; Hunt, Alexander J; Quinn, Roger D

    2017-02-01

    We present a serial design process with associated tools to select parameter values for a posture and locomotion controller for simulation of a robot. The controller is constructed from dynamic neuron and synapse models and simulated with the open-source neuromechanical simulator AnimatLab 2. Each joint has a central pattern generator (CPG), whose neurons possess persistent sodium channels. The CPG rhythmically inhibits motor neurons that control the servomotor's velocity. Sensory information coordinates the joints in the leg into a cohesive stepping motion. The parameter value design process is intended to run on a desktop computer, and has three steps. First, our tool FEEDBACKDESIGN uses classical control methods to find neural and synaptic parameter values that stably and robustly control servomotor output. This method is fast, testing over 100 parameter value variations per minute. Next, our tool CPGDESIGN generates bifurcation diagrams and phase response curves for the CPG model. This reveals neural and synaptic parameter values that produce robust oscillation cycles, whose phase can be rapidly entrained to sensory feedback. It also designs the synaptic conductance of inter-joint pathways. Finally, to understand sensitivity to parameters and how descending commands affect a leg's stepping motion, our tool SIMSCAN runs batches of neuromechanical simulations with specified parameter values, which is useful for searching the parameter space of a complicated simulation. These design tools are demonstrated on a simulation of a robot, but may be applied to neuromechanical animal models or physical robots as well.

  3. 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......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...... 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...

  4. The control system for the Honda humanoid robot.

    Science.gov (United States)

    Takenaka, Toru

    2006-09-01

    To avoid tipping over either during walking or on standing up, humans will first push down hard on the ground with a part of the sole of the foot. Then, when the tipping force can no longer be resisted, a change in body position or an extra step (stepping out) may be required to stabilise the posture. Our biped robot's control system attempts to reproduce and execute the same postural control operations carried out by humans. In this article, we present the history of robot development at Honda, fundamental dynamics for robots and the principles of posture control.

  5. Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

    Science.gov (United States)

    Badger, Julia M.; Hulse, Aaron M.; Taylor, Ross C.; Curtis, Andrew W.; Gooding, Dustin R.; Thackston, Allison

    2013-01-01

    Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

  6. A Design Method for Synthesizing Control-Command Systems out of Reusable Components

    OpenAIRE

    Hajjar , Salam; Dumitrescu , Emil; Pietrac , Laurent; Niel , Eric

    2014-01-01

    International audience; This paper investigates an industrial design issue related to code reusability: building control-command systems out of Commercial off the shelf (COTS) components. The design method proposed uses in synergy the formal verification (FV) and the discrete controller synthesis (DCS) techniques. COTS are formally specified using temporal logic and/or executable observers, and coded according to their formal specification. New functions are built by assembling COTS together....

  7. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  8. Feedback linearized trajectory-tracking control of a mobile robot

    Directory of Open Access Journals (Sweden)

    Kabanov Aleksey

    2017-01-01

    Full Text Available This paper is devoted to the designing of a trajectory-tracking control system for a unicycle-type mobile robot. Synthesis of the trajectory control law is based on the feedback linearization method and a canonical similarity transformation of nonlinear affine system in state-dependent coefficient form. The result of experimental test of the trajectory control system for mobile robot Rover5 is presented.

  9. 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.

  10. 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

  11. 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.

  12. 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.

  13. 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.

  14. Research advances in control methods of wearable walking assist robots

    Directory of Open Access Journals (Sweden)

    Xia ZHANG

    2016-04-01

    Full Text Available As the proportion of the elderly in China increases, the need for robotic assist walking is growing. The assisted-as-needed (AAN property of a wearable walking assist robot matches a user’s biological need and improves the flexibility, appetency and friendliness of a mechanical system. To realize AAN walking and aiming at realizing master/slave flexible assist, a new hybrid control method consisting of hip joint control based on central pattern generators and knee joint impedance structured control is proposed. The adaptation of a robot's master/slave motion mode to a user's physical function, the continuous switching method for knee joint impedance structured control and its stability, and the AAN effect of the Hybrid control theory are studied, which provides a new thought for the development of wearable walking assist robots.

  15. 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

  16. 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...

  17. 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.

  18. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  19. Automatic Welding System Using Speed Controllable Autonomous Mobile Robot

    Science.gov (United States)

    Kim, Taewon; Suto, Takeshi; Kobayashi, Junya; Kim, Jongcheol; Suga, Yasuo

    A prototype of autonomous mobile robot with two vision sensors for automatic welding of steel plates was constructed. The robot can move straight, steer and turn around the robot center by controlling the driving speed of the two wheels respectively. At the tip of the movable arm, two CCD cameras are fixed. A local camera observes the welding line near the welding torch and another wide camera observes relatively wide area in front of the welding part. The robot controls the traveling speed in accordance with the shape of the welding line. In the case of straight welding line, the speed of the robot is accelerated and the welding efficiency is improved. However, if the robot finds a corner of welding line, the speed is decelerated in order to realize the precise seam tracking and stable welding. Therefore, the robot can realize precise and high speed seam-tracking by controlling the travel speed. The effectiveness of the control system is confirmed by welding experiments.

  20. 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.

  1. 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.

  2. 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.

  3. Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot

    Directory of Open Access Journals (Sweden)

    Yuan Chen

    2013-06-01

    Full Text Available In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate the structured uncertainties; and a nonlinear H∞ tracking control model as a feedback portion to eliminate the effects of the unstructured uncertainties and approximation errors. The validity of the robust adaptive compensation control schemes is investigated by numerical simulations of a two-link rotary robot manipulator

  4. 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.

  5. 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...

  6. Adaptive artificial neural network for autonomous robot control

    Science.gov (United States)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

  7. Development and evaluation of a flexible distributed robot control architecture

    Science.gov (United States)

    Ellsberry, Andrew John

    2011-12-01

    The communications and electronic systems that comprise a distributed control architecture for a robotic manipulator tie the high level control and motion planning to the electromechanical components. Custom solutions to this problem can be expensive in terms of time, cost, and maintenance. The integration of commercial off the shelf (COTS) motion controllers, combined with a robust communication standard, offers the potential to reduce the costs and development times for new robots. This thesis demonstrates an implementation of this architecture using commercial controllers and the CANopen communications bus on two existing dexterous robots. Testing is conducted to quantify the single joint performance of these modules. Additionally, the implementation of the system on a second robot arm was conducted in order to test the flexibility of the system for use with different actuators and feedback.

  8. 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...

  9. 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 ...

  10. Implementation of Automation for Control of Robotic Systems

    National Research Council Canada - National Science Library

    Cosenzo, Keryl A; Parasuraman, Raja; Novak, Anthony; Barnes, Michael

    2006-01-01

    .... The role of the human operator in the human-robot environment is not well understood; however, most contemplated systems will require active human control or supervision with the possibility of intervention...

  11. 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.

  12. 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.

  13. 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.

  14. Distributed Receding Horizon Coverage Control by Multiple Mobile Robots

    Directory of Open Access Journals (Sweden)

    Fatemeh Mohseni

    2013-09-01

    Full Text Available This paper presents a distributed receding horizon coverage control algorithm to control a group of mobile robots having linear dynamics with the assumption that the robot dynamics are decoupled from each other. The objective of the coverage algorithm considered here is to maximize the detection of the occurrence of the events. First the authors introduce a centralized receding horizon coverage control and then they introduce a distributed version of it. To avoid the common disadvantages that are associated with the centralized approach, the problem is then decomposed into several RHCC problems, each associated with a particular robot, that are solved using distributed techniques. In order to solve each RHCC, each robot needs to know the trajectories of its neighbors during the optimization time interval. Since this information is not available, an algorithm is presented to estimate the trajectory of the neighboring robots. To minimize the estimation error, a compatibility constraint, which is also a key requirement in the closed-loop stability analysis, is considered. Moreover, the proof of the close-loop stability of this distributed version is provided and shows that the location of the robots will indeed converge to the centroids of a Voronoi partition. Simulation results validate the algorithm and the convergence of the robots to the centroidal Voronoi configuration.

  15. 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.

  16. Equipment to Support Development of Neuronal Network Controlled Robots

    Science.gov (United States)

    2016-06-25

    growth and training of neuronal neural networks to control robot arms. This work was done to learn the properties of the neurons and neuronal network , by...Equipment to Support Development of Neuronal Network Controlled Robots With this award, our team purchased an ALA 2-channel stimulus generator, an...peer-reviewed journals: Number of Papers published in non peer-reviewed journals: Final Report: Equipment to Support Development of Neuronal Network

  17. 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...

  18. 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.

  19. On-line frequency domain information for control of a flexible-link robot with varying payload

    Science.gov (United States)

    Yurkovich, Stephen; Pacheco, Fernando E.; Tzes, Anthony P.

    1989-01-01

    Experimental results are given for the endpoint position control of a single-link, very flexible robot arm carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew-angle commanded position. Fast, simple, and efficient frequency-domain schemes are used for online controller gain adjustment within an effective scheduling framework. Only endpoint acceleration and motor shaft angle measurements are utilized in relatively simple control laws where the appropriate gains have been scheduled as correlated to modal frequency information corresponding to a varying, unknown payload.

  20. An SSVEP based BCI to control a humanoid robot by using portable EEG device.

    Science.gov (United States)

    Güneysu, Arzu; Akin, H Levent

    2013-01-01

    Brain Computer Interfaces (BCIs) are systems that allow human subjects to interact with the environment by interpreting brain signals into machine commands. This work provides a design for a BCI to control a humanoid robot by using signals obtained from the Emotiv EPOC, a portable electroencephalogram (EEG) device with 14 electrodes and sampling rate of 128 Hz. The main objective is to process the neuroelectric responses to an externally driven stimulus and generate control signals for the humanoid robot Nao accordingly. We analyze steady-state visually evoked potential (SSVEP) induced by one of four groups of light emitting diodes (LED) by using two distinct signals obtained from the two channels of the EEG device which reside on top of the occipital lobe. An embedded system is designed for generating pulse width modulated square wave signals in order to flicker each group of LEDs with different frequencies. The subject chooses the direction by looking at one of these groups of LEDs that represent four directions. Fast Fourier Transform and a Gaussian model are used to detect the dominant frequency component by utilizing harmonics and neighbor frequencies. Then, a control signal is sent to the robot in order to draw a fixed sized line in that selected direction by BCI. Experimental results display satisfactory performance where the correct target is detected 75% of the time on the average across all test subjects without any training.

  1. Man-machine interface in a submarine command and weapon control system: features and design experience

    OpenAIRE

    Johan H. Aas; Karsten Brathen; Erik Nordo; Ole Ø. Ørpen

    1989-01-01

    Important man-machine interface (MMI) issues concerning a submarine command and weapon control system (CWCS) such as crew organization, automation level and decision support are discussed in this paper. Generic submarine CWCS functions and operating conditions are outlined. Detailed, dynamic and real-time prototypes were used to support the MMI design. The prototypes are described and experience with detailed prototyping is discussed. Some of the main interaction principles are summarized and...

  2. Army Command and Control Study-82 (ACCS-82). Volume III. Annexes.

    Science.gov (United States)

    1979-09-30

    NCTIONS INSTALLATION FUNCTIONS ACAI I I ! NOTE: Many Installione. how* established a &::&fat* Diretorate for Resre. Compoent~ S p- rt. F-3-5 Figure F-3-3...program. When these programs were established, the MACOMs were benefitting in some cases as much as the RC units, i.e., RC physicians were providing...complicate boundaries, Overextend CONUSA span of control and creates complicated, confusing command lines. e. Benefits which functionalication could provide

  3. 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.

  4. Trigger to recycling in a developing country: in the absence of command-and-control instruments

    CSIR Research Space (South Africa)

    Oelofse, Suzanna HH

    2010-09-01

    Full Text Available and Resource Management – Putting Strategy into Practice Stratford-upon-Avon, Warwickshire, England, 28-29 September 2010 © Crown copyright 2010 THE TRIGGER TO RECYCLING IN A DEVELOPING COUNTRY – IN THE ABSENCE OF COMMAND-AND-CONTROL INSTRUMENTS... become a contentious issue within the South African waste sector. It is anticipated that regulations containing revised targets, as proposed in the Draft National Waste Management Strategy (DEA, 2010), will be promulgated under the National...

  5. Command and Control of Guerrilla Groups in the Philippines, 1941-1945

    Science.gov (United States)

    2017-05-25

    Command and Control of Guerrilla Groups in the Philippines , 1941-1945 A Monograph by MAJ Thomas R. Nypaver Texas Army National Guard...Groups in the Philippines , 1941-1945 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) MAJ Thomas R...primary and secondary sources to examine guerrilla operations during the period from the Japanese invasion of the Philippines on December 8, 1941

  6. Resilient Multi-Domain Command and Control: Enabling Solutions for 2025 with Virtual Reality

    Science.gov (United States)

    2017-04-16

    objects are placed in their perception, and behave as though they are a part of the environment.34 For example, a virtual showroom might feature a...headset that allows the operator to see and interact with a virtual car. The car would appear to be in the showroom . The operator could walk around...AIR WAR COLLEGE AIR UNIVERSITY RESILIENT MULTI-DOMAIN COMMAND AND CONTROL: ENABLING SOLUTIONS FOR 2025 WITH VIRTUAL REALITY by

  7. 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)

  8. Reliability Architecture for Collaborative Robot Control Systems in Complex Environments

    Directory of Open Access Journals (Sweden)

    Liang Tang

    2016-02-01

    Full Text Available Many different kinds of robot systems have been successfully deployed in complex environments, while research into collaborative control systems between different robots, which can be seen as a hybrid internetware safety-critical system, has become essential. This paper discusses ways to construct robust and secure reliability architecture for collaborative robot control systems in complex environments. First, the indication system for evaluating the real-time reliability of hybrid internetware systems is established. Next, a dynamic collaborative reliability model for components of hybrid internetware systems is proposed. Then, a reliable, adaptive and evolutionary computation method for hybrid internetware systems is proposed, and a timing consistency verification solution for collaborative robot control internetware applications is studied. Finally, a multi-level security model supporting dynamic resource allocation is established.

  9. Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

    Directory of Open Access Journals (Sweden)

    Zhen Yang

    2016-01-01

    Full Text Available Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.

  10. 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.

  11. Real-time Position Control of Concentric Tube Robots.

    Science.gov (United States)

    Dupont, Pierre E; Lock, Jesse; Itkowitz, Brandon

    2010-05-03

    A novel approach to constructing robots is based on concentrically combining pre-curved elastic tubes. By rotating and extending the tubes with respect to each other, their curvatures interact elastically to position and orient the robot's tip, as well as to control the robot's shape along its length. Since these robots form slender curves, they are well suited for minimally invasive medical procedures. A substantial challenge to their practical use is the real-time solution of their kinematics that are described by differential equations with split boundary equations. This paper proposes a numerically efficient approach to real-time position control. It is shown that the forward kinematics are smooth functions that can be pre-computed and accurately approximated using Fourier series. The inverse kinematics can be solved in real time using root finding applied to the functional approximation. Experimental demonstration of real-time position control using this approach is also described.

  12. Shuttle Payload Ground Command and Control: An Experiment Implementation Combustion Module-2 Software Development, STS-107

    Science.gov (United States)

    Carek, David Andrew

    2003-01-01

    This presentation covers the design of a command and control architecture developed by the author for the Combustion Module-2 microgravity experiment, which flew aboard the STS-107 Shuttle mission, The design was implemented to satisfy a hybrid network that utilized TCP/IP for both the onboard segment and ground segment, with an intermediary unreliable transport for the space to ground segment. With the infusion of Internet networking technologies into Space Shuttle, Space Station, and spacecraft avionics systems, comes the need for robust methodologies for ground command and control. Considerations of high bit error links, and unreliable transport over intermittent links must be considered in such systems. Internet protocols applied to these systems, coupled with the appropriate application layer protections, can provide adequate communication architectures for command and control. However, there are inherent limitations and additional complexities added by the use of Internet protocols that must be considered during the design. This presentation will discuss the rationale for the: framework and protocol algorithms developed by the author. A summary of design considerations, implantation issues, and learned lessons will be will be presented. A summary of mission results using this communications architecture will be presented. Additionally, areas of further needed investigation will be identified.

  13. Walking Posture Control of Transmission Line Single Arm Inspection Robot

    Science.gov (United States)

    Yan, Yu; Liu, Xiaqing; Li, Jinliang; Ou, Yuexiong

    2017-07-01

    To control the walking posture according to transmission line single arm inspection robot, the robot is divided into normal walking and climbing walking two state, and gives the definition, then based on the state space method of state variable feedback and PD control method is used to control the two states, two kinds of control method of simulation by using Matlab, in the end, the two control methods proposed is validated in the actual circuit structures. The results show that, the proposed control method is rapid and effective, and can meet the needs of practical application.

  14. 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.

  15. 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.

  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. 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.

  18. 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

  19. 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...

  20. 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.

  1. Artificial endocrine controller for power management in robotic systems.

    Science.gov (United States)

    Sauzé, Colin; Neal, Mark

    2013-12-01

    The robots that operate autonomously for extended periods in remote environments are often limited to gather only small amounts of power through photovoltaic solar panels. Such limited power budgets make power management critical to the success of the robot's mission. Artificial endocrine controllers, inspired by the mammalian endocrine system, have shown potential as a method for managing competing demands, gradually switching between behaviors, synchronizing behavior with external events, and maintaining a stable internal state of the robot. This paper reports the results obtained using these methods to manage power in an autonomous sailing robot. Artificial neural networks are used for sail and rudder control, while an artificial endocrine controller modulates the magnitude of actuator movements in response to battery or sunlight levels. Experiments are performed both in simulation and using a real robot. In simulation a 13-fold reduction in median power consumption is achieved; in the robot this is reduced to a twofold reduction because of the limitations of the simulation model. Additional simulations of a long term mission demonstrate the controller's ability to make gradual behavioral transitions and to synchronize behaviors with diurnal and seasonal changes in sunlight levels.

  2. 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.

  3. Neuro-Fuzzy Control of a Robotic Manipulator

    Science.gov (United States)

    Gierlak, P.; Muszyńska, M.; Żylski, W.

    2014-08-01

    In this paper, to solve the problem of control of a robotic manipulator's movement with holonomical constraints, an intelligent control system was used. This system is understood as a hybrid controller, being a combination of fuzzy logic and an artificial neural network. The purpose of the neuro-fuzzy system is the approximation of the nonlinearity of the robotic manipulator's dynamic to generate a compensatory control. The control system is designed in such a way as to permit modification of its properties under different operating conditions of the two-link manipulator

  4. Control of industrial robot using neural network compensator

    Directory of Open Access Journals (Sweden)

    Ranković Vesna

    2005-01-01

    Full Text Available In the paper is considered synthesis of the controller with tachometric feedback with feed forward compensation of disturbance torque, velocity and acceleration errors. It is difficult to obtain the desired control performance when the control algorithm is only based on the robot dynamic model. We use the neural network to generate auxiliary joint control torque to compensate these uncertainties. The two-layer neural network is used as the compensator. The main task of control system here is to track the required trajectory. Simulations are done in MATLAB for RzRyRy robot minimal configuration.

  5. Robotics in nuclear engineering

    International Nuclear Information System (INIS)

    Larcombe, M.H.E.; Halsall, J.R.

    1984-01-01

    The subject is covered in chapters, entitled: foreword and definitions; introduction; robotics state of the art 1984; potential applications; advanced remote control; robot system design principles; robot system skills; planning of remote control robotics R and D; example systems; REMCON (advanced remote control robotic systems) guidelines; robot activation; robot instrumentation; robot guidance; design of equipment for robotic maintenance; ergonomics of control. (U.K.)

  6. 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

  7. Methods and Apparatus for Autonomous Robotic Control

    Science.gov (United States)

    Versace, Massimiliano (Inventor); Gorshechnikov, Anatoly (Inventor); Livitz, Gennady (Inventor); Palma, Jesse (Inventor)

    2017-01-01

    Sensory processing of visual, auditory, and other sensor information (e.g., visual imagery, LIDAR, RADAR) is conventionally based on "stovepiped," or isolated processing, with little interactions between modules. Biological systems, on the other hand, fuse multi-sensory information to identify nearby objects of interest more quickly, more efficiently, and with higher signal-to-noise ratios. Similarly, examples of the OpenSense technology disclosed herein use neurally inspired processing to identify and locate objects in a robot's environment. This enables the robot to navigate its environment more quickly and with lower computational and power requirements.

  8. STDP with adaptive synaptic delay for robot navigation control

    Science.gov (United States)

    Arena, Paolo; Patané, Luca; Distefano, Francesco; Bucolo, Sebastiano; Aiello, Orazio

    2007-05-01

    In this work a biologically inspired network of spiking neurons is used for robot navigation control. The two tasks taken into account are obstacle avoidance and landmark-based navigation. The system learns the correlation among unconditioned stimuli (pre-wired sensors) and conditioned stimuli (high level sensors) through Spike Timing Dependent Plasticity (STDP). In order to improve the robot behaviours not only the synaptic weight but also the synaptic delay is subject to learning. Modulating the synaptic delay the robot is able to store the landmark position, like in a short time memory, and to use this information to smooth the turning actions prolonging the landmark effects also when it is no more visible. Simulations are carried out in a dynamic simulation environment and the robotic system considered is a cockroach-inspired hexapod robot. The locomotion signals are generated by a Central Pattern Generator and the spiking network is devoted to control the heading of the robot acting on the amplitude of the leg steps. Several scenarios have been proposed, for instance a T-shaped labyrinth, used in laboratory experiments with mice to demonstrate classical and operant conditioning, has been considered. Finally the proposed adaptive navigation control structure can be extended in a modular way to include other features detected by new sensors included in the correlation-based learning process.

  9. 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 ...

  10. 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.

  11. 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

  12. Virtual collaborative environments: programming and controlling robotic devices remotely

    Science.gov (United States)

    Davies, Brady R.; McDonald, Michael J., Jr.; Harrigan, Raymond W.

    1995-12-01

    This paper describes a technology for remote sharing of intelligent electro-mechanical devices. An architecture and actual system have been developed and tested, based on the proposed National Information Infrastructure (NII) or Information Highway, to facilitate programming and control of intelligent programmable machines (like robots, machine tools, etc.). Using appropriate geometric models, integrated sensors, video systems, and computing hardware; computer controlled resources owned and operated by different (in a geographic sense as well as legal sense) entities can be individually or simultaneously programmed and controlled from one or more remote locations. Remote programming and control of intelligent machines will create significant opportunities for sharing of expensive capital equipment. Using the technology described in this paper, university researchers, manufacturing entities, automation consultants, design entities, and others can directly access robotic and machining facilities located across the country. Disparate electro-mechanical resources will be shared in a manner similar to the way supercomputers are accessed by multiple users. Using this technology, it will be possible for researchers developing new robot control algorithms to validate models and algorithms right from their university labs without ever owning a robot. Manufacturers will be able to model, simulate, and measure the performance of prospective robots before selecting robot hardware optimally suited for their intended application. Designers will be able to access CNC machining centers across the country to fabricate prototypic parts during product design validation. An existing prototype architecture and system has been developed and proven. Programming and control of a large gantry robot located at Sandia National Laboratories in Albuquerque, New Mexico, was demonstrated from such remote locations as Washington D.C., Washington State, and Southern California.

  13. Development of an Active Limp Controlled Space Robot Joint

    Science.gov (United States)

    Nishida, Shin-Ichiro; Yoshikawa, Tsuneo

    The active limp joint was developed for the purpose of the joint for space robots from which good compliant nature is obtained to pulling in by the attaching mechanism in on-orbit assembly work. The contact work in on-orbit assembly work was analyzed, and joint active limp control was proposed as a force control system which realizes compliant action. Moreover, the small cable lap mechanism of the torque sensor of high stiffness and disturbance torque was developed. The space robot joint mechanism which these are built in was developed, and it verified that forcing for the object by application of fine joint torque sensor and joint compliance control could be performed by characteristic testing. Furthermore, it verified that good compliant action was realizable to pulling-in action by joint active limp control. Thus, the joint mechanism and control system suitable for the next-generation space robot arm which does on-orbit assembly work were developed.

  14. CSI related dynamics and control issues in space robotics

    Science.gov (United States)

    Schmitz, Eric; Ramey, Madison

    1993-01-01

    The research addressed includes: (1) CSI issues in space robotics; (2) control of elastic payloads, which includes 1-DOF example, and 3-DOF harmonic drive arm with elastic beam; and (3) control of large space arms with elastic links, which includes testbed description, modeling, and experimental implementation of colocated PD and end-point tip position controllers.

  15. 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.

  16. 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.

  17. 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...

  18. 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.

  19. 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

  20. 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.

  1. Simultaneous Blind Separation and Recognition of Speech Mixtures Using Two Microphones to Control a Robot Cleaner

    Directory of Open Access Journals (Sweden)

    Heungkyu Lee

    2013-02-01

    Full Text Available This paper proposes a method for the simultaneous separation and recognition of speech mixtures in noisy environments using two-channel based independent vector analysis (IVA on a home-robot cleaner. The issues to be considered in our target application are speech recognition at a distance and noise removal to cope with a variety of noises, including TV sounds, air conditioners, babble, and so on, that can occur in a house, where people can utter a voice command to control a robot cleaner at any time and at any location, even while a robot cleaner is moving. Thus, the system should always be in a recognition-ready state to promptly recognize a spoken word at any time, and the false acceptance rate should be lower. To cope with these issues, the keyword spotting technique is applied. In addition, a microphone alignment method and a model-based real-time IVA approach are proposed to effectively and simultaneously process the speech and noise sources, as well as to cover 360-degree directions irrespective of distance. From the experimental evaluations, we show that the proposed method is robust in terms of speech recognition accuracy, even when the speaker location is unfixed and changes all the time. In addition, the proposed method shows good performance in severely noisy environments.

  2. 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.

  3. Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture

    Directory of Open Access Journals (Sweden)

    Trevor Davies

    2008-08-01

    Full Text Available This paper presents the development and implementation a hybrid control architecture to direct a collective of three X80 mobile robots to multiple user-defined waypoints. The Genetic Algorithm Path Planner created an optimized, reduction in the time to complete the task, path plan for each robot in the collective such that each waypoint was visited once without colliding with a priori obstacles. The deliberative Genetic Algorithm Path Planner was then coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding a priori obstacles and obstacles detected using the robots' range sensors. The success of this hybrid control architecture was proven through simulation and experimentation using three of Dr. Robot's ™ wireless X80 mobile robots.

  4. Control design and analysis for underactuated robotic systems

    CERN Document Server

    Xin, Xin

    2014-01-01

    The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design, and analysis presented in a systematic way particularly for the following examples: l  directly and remotely driven  Acrobots l  Pendubot l  rotational pendulum l  counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l  variable-length pendulum l  3-link gymnastic robot with passive first joint l  n-link planar robo...

  5. Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect.

    Science.gov (United States)

    Ando, Noriyasu; Emoto, Shuhei; Kanzaki, Ryohei

    2016-12-19

    Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor sources is an essential task for organism survival. Insects are well-studied organisms with regard to odor tracking, and their behavioral strategies have been applied to mobile robots for evaluation. This "bottom-up" approach is a fundamental way to develop biomimetic robots; however, the biological analyses and the modeling of behavioral mechanisms are still ongoing. Therefore, it is still unknown how such a biological system actually works as the controller of a robotic platform. To answer this question, we have developed an insect-controlled robot in which a male adult silkmoth (Bombyx mori) drives a robot car in response to odor stimuli; this can be regarded as a prototype of a future insect-mimetic robot. In the cockpit of the robot, a tethered silkmoth walked on an air-supported ball and an optical sensor measured the ball rotations. These rotations were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can manipulate any parameter of the robot, which enables the evaluation of the odor-tracking capability of insects and provides useful suggestions for robotic odor-tracking. Furthermore, these manipulations are non-invasive ways to alter the sensory-motor relationship of a pilot insect and will be a useful technique for understanding adaptive behaviors.

  6. Control fusion for safe multi-robot coordination

    Science.gov (United States)

    Bostelman, Roger; Marvel, Jeremy

    2014-05-01

    Future smart manufacturing systems will include more complex coordination of mobile manipulators (i.e., robot arms mounted on mobile bases). The National Institute of Standards and Technology (NIST) conducts research on the safety and performance of multiple collaborating robots using a mobile platform, an automatic guided vehicle (AGV) with an onboard manipulator. Safety standards for robots and industrial vehicles each mandate their failsafe control, but there is little overlap between the standards that can be relied on when the two systems are combined and their independent controllers make collaborative decisions for safe movement. This paper briefly discusses previously uncovered gaps between AGV and manipulator standards and details decision sharing for when manipulators and AGVs are combined into a collaborative, mobile manipulator system. Tests using the NIST mobile manipulator with various control methods were performed and are described along with test results and plans for further, more complex tests of implicit and explicit coordination control of the mobile manipulator.

  7. 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

  8. Microgravity Experiment for Attitude Control of a Tethered Space Robot

    Science.gov (United States)

    Nohmi, Masahiro

    A tethered space robot, which is connected to a mother spacecraft through a peace of tether, is a new space system proposed in the previous work. The tethered subsystem is envisioned to be a multi-body system for a robot, whose attitude can be controlled under tether tension by its own link motion. This paper discusses about microgravity experiment for a tethered space robot. Design and mechanism of the experimental device, required for the proposed attitude control, were explained. Also, link motion control algorithm was designed for the experimental device. Characteristics of the proposed attitude control were confirmed by microgravity experiment using a drop shaft, which can provide high quality microgravity condition during 4.5s.

  9. New nonlinear control algorithms for multiple robot arms

    Science.gov (United States)

    Tarn, T. J.; Bejczy, A. K.; Yun, X.

    1988-01-01

    Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

  10. 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

  11. 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

  12. Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms

    Directory of Open Access Journals (Sweden)

    Alkinoos Athanasiou

    2017-01-01

    Full Text Available Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals’ BCI performance, and a pilot investigation on spinal cord injured patients’ BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality.

  13. Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms.

    Science.gov (United States)

    Athanasiou, Alkinoos; Xygonakis, Ioannis; Pandria, Niki; Kartsidis, Panagiotis; Arfaras, George; Kavazidi, Kyriaki Rafailia; Foroglou, Nicolas; Astaras, Alexander; Bamidis, Panagiotis D

    2017-01-01

    Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs) are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI) is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals' BCI performance, and a pilot investigation on spinal cord injured patients' BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality.

  14. Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms

    Science.gov (United States)

    Xygonakis, Ioannis; Pandria, Niki; Kartsidis, Panagiotis; Arfaras, George; Kavazidi, Kyriaki Rafailia; Foroglou, Nicolas

    2017-01-01

    Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs) are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI) is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals' BCI performance, and a pilot investigation on spinal cord injured patients' BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality. PMID:28948168

  15. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...... feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  16. 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)

  17. Obstacle Avoidance Control on Omnidirectional Vehicle Robots Using Range Sensor

    Science.gov (United States)

    Shimada, Akira; Kiddee, Prasarn; Nishi, Yujiro

    Generally, intelligent vehicle robots are strongly needed in many fields. They are expected to assist our daily lives. In order to implement them in practice, we should mount useful functions including path planning, navigation, and obstacle avoidance, etc. on the robots. This paper focuses on obstacle avoidance control technique to multiple obstacles. The used vehicle as a platform is the mecanum wheel omnidirectional vehicle which is driven on floors and mounts a scanner range sensor. The presented algorithm has the feature that multiple obstacle avoidance control is simply come down to the mono-obstacle avoidance control scheme. Finally, the experimental results are shown in order to evaluate the presented algorithms.

  18. 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

  19. Research on Walking Wheel Slippage Control of Live Inspection Robot

    Science.gov (United States)

    Yan, Yu; Liu, Xiaqing; Guo, Hao; Li, Jinliang; Liu, Lanlan

    2017-07-01

    To solve the problem of walking wheel slippage of a live inspection robot during walking or climbing, this paper analyzes the climbing capacity of the robot with a statics method, designs a pressing wheel mechanism, and presents a method of indirectly identifying walking wheel slippage by reading speed of the pressing wheel due to the fact that the linear speed of the pressing wheel and the walking wheel at the contract point is the same; and finds that the slippage state can not be controlled through accurate mathematical models after identifying the slippage state, whereas slippage can be controlled with fuzzy control. The experiment results indicate that due to design of the pressing wheel mechanism, friction force of the walking wheel is increased, and the climbing capability of the robot is improved. Within the range of climbing capability of the robot, gradient is the key factor that has influence on slippage of robot, and slippage can be effectively eliminated through the fuzzy control method proposed in this paper.

  20. High level language-based robotic control system

    Science.gov (United States)

    Rodriguez, Guillermo (Inventor); Kreutz, Kenneth K. (Inventor); Jain, Abhinandan (Inventor)

    1996-01-01

    This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

  1. 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.

  2. Artificial Intelligence Applications To Command, Control, And Communications Systems/Subsystems

    Science.gov (United States)

    Chaudhuri, Syama P.; Agrawal, Rajiv

    1989-09-01

    This paper has focussed on the artificial intelligence applications to command, control, and communications systems/subsystems. The overall objective of this project is to investigate sources of airborne target identification information available from various equipment (airborne, land-based, or space-based) and to develop an automatic target recognition (ATR) system design for integrating the data from these target identification subsystems. The entire project is divided into two phases: Phase I and Phase II. This paper details the results derived from the Phase I study.

  3. Fiber Optic Data Bus for Marine Corps Command-Control Systems.

    Science.gov (United States)

    1981-02-01

    benefit of the USMC Command-Control System. Ill. APPROACH A system analysis to develop an optimum system design based on typical require- merits...vlIII’ i --𔃻 17 IF L H F’I 0 ’:’:N’.ERT TO- E.1L’ 111-11 ,1E71 TH’EC’. IF LESS. THAN C0 PRINT IMESS.’-lAE ACAI N 0114 C4 ’PIP MiL IF GREATRR THAN3

  4. 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

  5. Vulnerability Analysis of the MAVLink Protocol for Command and Control of Unmanned Aircraft

    Science.gov (United States)

    2013-03-27

    the payload refers to a small Nerf™ football fastened to the UAV by a small pin that is released upon receipt of a “toggle servo” command from the...MHz band for personal communication (e.g., Australia, Brazil , New Zealand, South Africa, and most of Europe) [And13]. Many UAS manufacturers and...Nerf™ footballs [Hob13, Col13]. 50 Figure 4.1: Super Sky Surfer UAV In the field experiments, the autopilot is configured to control the ailerons with

  6. Classification of BMI control commands from rat's neural signals using extreme learning machine

    OpenAIRE

    Shin Hyung-Cheul; Kim Jinkwon; Lee Hyunjoo; Lee Youngbum; Lee Myoungho

    2009-01-01

    Abstract A recently developed machine learning algorithm referred to as Extreme Learning Machine (ELM) was used to classify machine control commands out of time series of spike trains of ensembles of CA1 hippocampus neurons (n = 34) of a rat, which was performing a target-to-goal task on a two-dimensional space through a brain-machine interface system. Performance of ELM was analyzed in terms of training time and classification accuracy. The results showed that some processes such as class co...

  7. Using LTE Networks for UAV Command and Control Link: A Rural-Area Coverage Analysis

    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...... interference coordination schemes. In addition, ideal Interference Cancellation (IC) scheme with ability to remove completely the dominant interferer shows less effective for UAVs than for users on the ground. On the other hand, macro network diversity has very good potential for drones, as not only...

  8. Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance.

    Science.gov (United States)

    Farkhatdinov, Ildar; Roehri, Nicolas; Burdet, Etienne

    2017-09-26

    Many wearable lower-limb robots for walking assistance have been developed in recent years. However, it remains unclear how they can be commanded in an intuitive and efficient way by their user. In particular, providing robotic assistance to neurologically impaired individuals in turning remains a significant challenge. The control should be safe to the users and their environment, yet yield sufficient performance and enable natural human-machine interaction. Here, we propose using the head and trunk anticipatory behaviour in order to detect the intention to turn in a natural, non-intrusive way, and use it for triggering turning movement in a robot for walking assistance. We therefore study head and trunk orientation during locomotion of healthy adults, and investigate upper body anticipatory behaviour during turning. The collected walking and turning kinematics data are clustered using the k-means algorithm and cross-validation tests and k-nearest neighbours method are used to evaluate the performance of turning detection during locomotion. Tests with seven subjects exhibited accurate turning detection. Head anticipated turning by more than 400-500 ms in average across all subjects. Overall, the proposed method detected turning 300 ms after its initiation and 1230 ms before the turning movement was completed. Using head anticipatory behaviour enabled to detect turning faster by about 100 ms, compared to turning detection using only pelvis orientation measurements. Finally, it was demonstrated that the proposed turning detection can improve the quality of human-robot interaction by improving the control accuracy and transparency.

  9. 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.)

  10. 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...

  11. 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

  12. 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.

  13. 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

  14. 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.

  15. Neural network output feedback control of robot formations.

    Science.gov (United States)

    Dierks, Travis; Jagannathan, Sarangapani

    2010-04-01

    In this paper, a combined kinematic/torque output feedback control law is developed for leader-follower-based formation control using backstepping to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. A neural network (NN) is introduced to approximate the dynamics of the follower and its leader using online weight tuning. Furthermore, a novel NN observer is designed to estimate the linear and angular velocities of both the follower robot and its leader. It is shown, by using the Lyapunov theory, that the errors for the entire formation are uniformly ultimately bounded while relaxing the separation principle. In addition, the stability of the formation in the presence of obstacles, is examined using Lyapunov methods, and by treating other robots in the formation as obstacles, collisions within the formation are prevented. Numerical results are provided to verify the theoretical conjectures.

  16. 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.

  17. 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,…

  18. 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

  19. Control of interactive robotic interfaces: A port-Hamiltonian approach

    NARCIS (Netherlands)

    Siciliano, B.; Secchi, C; Stramigioli, Stefano; Khatib, O.; Groen, F.; Fantuzzi, C.

    2007-01-01

    When two physical systems (e.g. a robot and its environment) interact they exchange energy through localized ports and, in order to control their interaction, it is necessary to control the exchanged energy. The port-Hamiltonian formalism provides a general framework for modeling physical systems

  20. 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.