Download or read book Advanced Guided Vehicles Aspects Of The Oxford Agv Project written by Stephen Cameron and published by World Scientific. This book was released on 1994-10-10 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Oxford University Robotics Research Group has been working for several years to improve the ability of automated guided vehicles. This book brings together much of the key research work on sensors and planning that was inspired by an industrial vehicle donated by a factory automation division in GEC, GEC-FAST, together with background material to provide a basic but up-to-date reference guide to autonomous vehicle research. The book includes work on control, sensing technologies, sensor management and data-fusion, different styles of path planning suited for off-line or online plans and task planning. It is designed to act both as a reference for the robotics professional, and as a text for university-level courses.

Download or read book Intelligent Control Aspects Of Fuzzy Logic And Neural Nets written by Christopher J Harris and published by World Scientific. This book was released on 1993-03-31 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: With increasing demands for high precision autonomous control over wide operating envelopes, conventional control engineering approaches are unable to adequately deal with system complexity, nonlinearities, spatial and temporal parameter variations, and with uncertainty. Intelligent Control or self-organising/learning control is a new emerging discipline that is designed to deal with problems. Rather than being model based, it is experiential based. Intelligent Control is the amalgam of the disciplines of Artificial Intelligence, Systems Theory and Operations Research. It uses most recent experiences or evidence to improve its performance through a variety of learning schemas, that for practical implementation must demonstrate rapid learning convergence, be temporally stable, be robust to parameter changes and internal and external disturbances. It is shown in this book that a wide class of fuzzy logic and neural net based learning algorithms satisfy these conditions. It is demonstrated that this class of intelligent controllers is based upon a fixed nonlinear mapping of the input (sensor) vector, followed by an output layer linear mapping with coefficients that are updated by various first order learning laws. Under these conditions self-organising fuzzy logic controllers and neural net controllers have common learning attributes.A theme example of the navigation and control of an autonomous guided vehicle is included throughout, together with a series of bench examples to demonstrate this new theory and its applicability.

Download or read book Computational Principles of Mobile Robotics written by Gregory Dudek and published by Cambridge University Press. This book was released on 2010-07-26 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: An advanced undergraduate/graduate text, emphasizing computation and algorithms for locomotion, sensing, and reasoning in mobile robots.

Download or read book Computer Vision Models And Inspection written by A David Marshall and published by World Scientific. This book was released on 1992-03-26 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main focus of this book is on the uses of computer vision for inspection and model based matching. It also provides a short, self contained introductory course on computer vision. The authors describe various state-of-the-art approaches to probems and then set forth their proposed approach to matching and inspection. They deal primarily with 3-D vision but also discuss 2-D vision strategies when relevant.The book is suitable for researchers, final year undergraduates and graduate students. Useful review questions at the end of each chapter allow this book to be used for self-study.

Download or read book Visual Servoing written by Koichi Hashimoto and published by World Scientific. This book was released on 1993 with total page 378 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.

Download or read book Intelligent Robotic Planning Systems written by Phillip Chen-yu Sheu and published by World Scientific. This book was released on 1993-07-21 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume focusses on the problem of planning in the context of robotics. Unlike most books on robotics planning which are either too abstract or too specific, this one extends the techniques developed for generic planning problems with robotics-specific considerations so that the task of planning can be discussed in a more uniform way. It also includes the latest results in reconfigurable (mobile) robot planning, multiple robot planning, plan recovery, and planning in uncertain environments. This volume is probably the very first book in the market that provides a theoretical foundation for planning techniques and their applications. It also bridges the gap that has been existing for a long time between computer scientists and application engineers. It will be of interest to senior and graduate students in engineering and computer science, AI researchers and professionals.

Download or read book Recent Trends In Mobile Robots written by Yuan F Zheng and published by World Scientific. This book was released on 1994-01-14 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent trends in the field as perceived by a global selection of researchers and experts. Subjects covered include motion planning of mobile robots in unknown environments, coordination between mobility and manipulability, computation environments for mobile robots, nonlinear control of mobile robots and environmental modeling using advanced sensing technologies. Issues ranging from progress in applications to fundamental problems are discussed.

Download or read book Fuzzy Logic Control Advances In Applications written by Robert Babuska and published by World Scientific. This book was released on 1999-03-19 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fuzzy logic control has become an important methodology in control engineering. This volume deals with applications of fuzzy logic control in various domains. The contributions are divided into three parts. The first part consists of two state-of-the-art tutorials on fuzzy control and fuzzy modeling. Surveys of advanced methodologies are included in the second part. These surveys address fuzzy decision making and control, fault detection, isolation and diagnosis, complexity reduction in fuzzy systems and neuro-fuzzy methods. The third part contains application-oriented contributions from various fields, such as process industry, cement and ceramics, vehicle control and traffic management, electromechanical and production systems, avionics, biotechnology and medical applications. The book is intended for researchers both from the academic world and from industry.

Download or read book Neural Adaptive Control Technology written by Rafal Zbikowski and published by World Scientific. This book was released on 1996-04-13 with total page 357 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an outgrowth of the workshop on Neural Adaptive Control Technology, NACT I, held in 1995 in Glasgow. Selected workshop participants were asked to substantially expand and revise their contributions to make them into full papers.The workshop was organised in connection with a three-year European Union funded Basic Research Project in the ESPRIT framework, called NACT, a collaboration between Daimler-Benz (Germany) and the University of Glasgow (Scotland). A major aim of the NACT project is to develop a systematic engineering procedure for designing neural controllers for nonlinear dynamic systems. The techniques developed are being evaluated on concrete industrial problems from Daimler-Benz.In the book emphasis is put on development of sound theory of neural adaptive control for nonlinear control systems, but firmly anchored in the engineering context of industrial practice. Therefore the contributors are both renowned academics and practitioners from major industrial users of neurocontrol.

Download or read book Interdisciplinary Approaches To Robot Learning written by Andreas Birk and published by World Scientific. This book was released on 2000-06-12 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots are being used in increasingly complicated and demanding tasks, often in environments that are complex or even hostile. Underwater, space and volcano exploration are just some of the activities that robots are taking part in, mainly because the environments that are being explored are dangerous for humans. Robots can also inhabit dynamic environments, for example to operate among humans, not just in factories, but also taking on more active roles. Recently, for instance, they have made their way into the home entertainment market. Given the variety of situations that robots will be placed in, learning becomes increasingly important.Robot learning is essentially about equipping robots with the capacity to improve their behaviour over time, based on their incoming experiences. The papers in this volume present a variety of techniques. Each paper provides a mini-introduction to a subfield of robot learning. Some also give a fine introduction to the field of robot learning as a whole. There is one unifying aspect to the work reported in the book, namely its interdisciplinary nature, especially in the combination of robotics, computer science and biology. This approach has two important benefits: first, the study of learning in biological systems can provide robot learning scientists and engineers with valuable insights into learning mechanisms of proven functionality and versatility; second, computational models of learning in biological systems, and their implementation in simulated agents and robots, can provide researchers of biological systems with a powerful platform for the development and testing of learning theories.

Download or read book Intelligent Supervisory Control written by Hang Wang and published by World Scientific. This book was released on 1996 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, a methodology integrating qualitative reasoning and bond graphs is developed to construct intelligent supervisory control systems. Qualitative reasoning is a powerful model-based reasoning method while bond graphs are a formal modelling language for dynamic systems. Their integration and qualitative reasoning on bond graphs results in a problem-solving approach to artificial intelligence, in which qualitative reasoning is used as the general reasoning strategy and bond graphs are employed as the knowledge representation.A systematic modelling procedure based on qualitative bond graphs is presented. A controller design method is developed to derive control algorithms from qualitative bond graph models. An auto-tuning scheme is proposed to adjust the controllers in order to meet performance criteria and adapt to system changes. A fault diagnosis mechanism is built to localise system faults, and an additional measurement suggestion method is developed for the diagnosis result refinement. An automatic planner is proposed to generate the operation sequences for system start-up, shut-down, and emergency measures to help human operators operate systems safely. All of these applications are combined together via a management mechanism to construct a supervisory control system.

Download or read book Applications Of Neural Adaptive Control Technology written by Andrzej Dzielinski and published by World Scientific. This book was released on 1997-09-02 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the results of the second workshop on Neural Adaptive Control Technology, NACT II, held on September 9-10, 1996, in Berlin. The workshop was organised in connection with a three-year European-Union-funded Basic Research Project in the ESPRIT framework, called NACT, a collaboration between Daimler-Benz (Germany) and the University of Glasgow (Scotland).The NACT project, which began on 1 April 1994, is a study of the fundamental properties of neural-network-based adaptive control systems. Where possible, links with traditional adaptive control systems are exploited. A major aim is to develop a systematic engineering procedure for designing neural controllers for nonlinear dynamic systems. The techniques developed are being evaluated on concrete industrial problems from within the Daimler-Benz group of companies.The aim of the workshop was to bring together selected invited specialists in the fields of adaptive control, nonlinear systems and neural networks. The first workshop (NACT I) took place in Glasgow in May 1995 and was mainly devoted to theoretical issues of neural adaptive control. Besides monitoring further development of theory, the NACT II workshop was focused on industrial applications and software tools. This context dictated the focus of the book and guided the editors in the choice of the papers and their subsequent reshaping into substantive book chapters. Thus, with the project having progressed into its applications stage, emphasis is put on the transfer of theory of neural adaptive engineering into industrial practice. The contributors are therefore both renowned academics and practitioners from major industrial users of neurocontrol.

Download or read book Odour Detection by Mobile Robots written by R. Andrew Russell and published by World Scientific. This book was released on 1999 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Insects are extremely successful creatures, thriving in our ever-changing & unpredictable world. One of the factors behind their success is the use of odour to increase their efficiency when searching for food, to help navigate between a source of food & their nest & to enable them to find a mate. Mobile robots would have their capabilities greatly enhanced if they could make use of similar techniques. This important book describes current research aimed at giving robots the ability to generate, detect & discriminate between odours, together with the control algorithms using such sensory information. Contents: Chemical Sensing in Nature; Odour-Sensing Technology; Odour Discrimination; Airflow; Broadcast Chemical Signals; Chemical Markings as Signals; Trail Following; Coding Information into Trails; Heat as a Short-Lived Marker. Readership: Graduate students & researchers in robotics, mechatronics & artificial intelligence.

Download or read book High level Feedback Control With Neural Networks written by Young Ho Kim and published by World Scientific. This book was released on 1998-09-28 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: Complex industrial or robotic systems with uncertainty and disturbances are difficult to control. As system uncertainty or performance requirements increase, it becomes necessary to augment traditional feedback controllers with additional feedback loops that effectively “add intelligence” to the system. Some theories of artificial intelligence (AI) are now showing how complex machine systems should mimic human cognitive and biological processes to improve their capabilities for dealing with uncertainty.This book bridges the gap between feedback control and AI. It provides design techniques for “high-level” neural-network feedback-control topologies that contain servo-level feedback-control loops as well as AI decision and training at the higher levels. Several advanced feedback topologies containing neural networks are presented, including “dynamic output feedback”, “reinforcement learning” and “optimal design”, as well as a “fuzzy-logic reinforcement” controller. The control topologies are intuitive, yet are derived using sound mathematical principles where proofs of stability are given so that closed-loop performance can be relied upon in using these control systems. Computer-simulation examples are given to illustrate the performance.

Download or read book Intelligent Assembly Systems written by M H Lee and published by World Scientific. This book was released on 1995-11-16 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with a key area of industrial robotics — the automation of small batch assembly. Assembly imparts enormous added value but turns out to be extraordinarily difficult to automate. The work presented here, all from the Centre for Intelligent Systems at the University of Wales, Aberystwyth, addresses this issue and shows ways in which the difficulties may be reduced through systematic architectural designs and specific structures for interfacing and controlling sensory-actuation systems. The book develops three main themes: a task-centred approach to robotic assembly, explicit reasoning techniques for fault diagnosis and error handling; and sensor-actuator integration methods. These are vital topics for those concerned with flexible automation and robotics.

Download or read book Adaptive Neural Network Control of Robotic Manipulators written by Tong Heng Lee and published by World Scientific. This book was released on 1998 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Download or read book Sensor Modelling Design and Data Processing for Autonomous Navigation written by Martin David Adams and published by World Scientific. This book was released on 1999 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: This invaluable book presents an unbiased framework for modelling and using sensors to aid mobile robot navigation. It addresses the problem of accurate and reliable sensing in confined environments and makes a detailed analysis of the design and construction of a low cost optical range finder. This is followed by a quantitative model for determining the sources and propagation of noise within the sensor. The physics behind the causes of erroneous data is also used to derive a model for detecting and labelling such data as false. In addition, the author's data-processing algorithms are applied to the problem of environmental feature extraction. This forms the basis of a solution to the problem of mobile robot localisation. The book develops a relationship between the kinematics of a mobile robot during the execution of successive manoeuvres, and the sensed features. Results which update a mobile vehicle's position using features from 2D and 3D scans are presented.