Mohammad Abdel Kareem Jaradat, Mohammad H. Garibeh, E. Feilat
{"title":"Dynamic motion planning for autonomous mobile robot using fuzzy potential field","authors":"Mohammad Abdel Kareem Jaradat, Mohammad H. Garibeh, E. Feilat","doi":"10.1109/ISMA.2009.5164829","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164829","url":null,"abstract":"A new fuzzy potential field is presented for autonomous mobile robot motion planning with dynamic environments. Two fuzzy models have been used to accomplish the total attractive and repulsive forces acting on the mobile robot. The proposed fuzzy potential field motion planning was investigated based on several conducted simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations the proposed approach was able to provide the robot with collision free path to softly land on the moving target and solved the local minimum problem within any stationary or dynamic environment compared to other potential field based approaches.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125865658","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
R. Vatankhah, S. Etemadi, M. Honarvar, A. Alasty, M. Boroushaki, G. Vossoughi
{"title":"Online velocity optimization of robotic swarm flocking using particle swarm optimization (PSO) method","authors":"R. Vatankhah, S. Etemadi, M. Honarvar, A. Alasty, M. Boroushaki, G. Vossoughi","doi":"10.1109/ISMA.2009.5164776","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164776","url":null,"abstract":"In this paper, the agent velocity in robotic swarm was determined by using particle swarm optimization (PSO) to maximize the robotic swarm coordination velocity. A swarm as supposed here is homogenous and includes at least two members. Motion and behavior of swarm members are mostly result of two different phenomena: interactive mutual forces and influence of the agent. Interactive mutual forces comprise both attraction and repulsion. To be more realistic the field of the swarm members' view is not infinity. So influence of the coordinator agent on the robotic swarm would be local. The objective here is to guide the robotic swarm with maximum possible velocity. According to equation motion of the system, this maximum value cannot be analytically obtained. PSO is a novel method in optimization which inspired from observations of birds flocking and fish schooling. As compared to other robust optimization methods, PSO is more efficient, and requires fewer number of function evaluations, while leading to better or the same quality of results. The results show the high ability of this evolutionary algorithm in solving complicated dynamic optimization problems.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123037035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Vibration control of vehicle suspension system using adaptive critic-based neurofuzzy controller","authors":"R. Vatankhah, Masoud Rahaeifard, A. Alasty","doi":"10.1109/ISMA.2009.5164809","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164809","url":null,"abstract":"This paper presents an active suspension system for passenger cars, using adaptive critic-based neurofuzzy controller. The model is described by a system with seven degrees of freedom. The car is subjected to excitation from a rode surface and wheel unbalance. The main superiority of the proposed controller over previous analogous fuzzy logic controller designed approaches, e.g., genetic fuzzy logic controller, is its online tuning characteristic and remarkable reduced amount of computations used for parameter adaptation, which makes it desirable for real time applications. Considering the simplicity of this controller and its independence from the system model, this control method has the advantage of online learning and control, and can be applied to a large variety of systems. The simulation results show that the proposed controller proves to be very effective in the vibration isolation of the vehicle body.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133648989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Final position and trajectory control of an object on a distributed manipulation system","authors":"Ali Elahidoost, M. Keshmiri","doi":"10.1109/ISMA.2009.5164826","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164826","url":null,"abstract":"In this paper, the function of a fuzzy controller in motion control of an object on a distributed manipulation system is investigated practically by an experimental setup. The system consists of four wheels with fixed axis and an object that is carried on them. The angular velocity of the wheels is controlled by a fuzzy controller and the object motion is indeed controlled by the friction forces between the wheels and the object. The results of experimental tests are compared with that of numerical simulations of the system in SIMULINK. The good agreement between the results indicates the effectiveness of the designed controller in actual systems.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"37 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113993733","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Machine automation using RTK GPS positioning","authors":"A. el-Mowafy, Mustafa Al-Musawa","doi":"10.1109/ISMA.2009.5164849","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164849","url":null,"abstract":"Machine automation is a challenging application that demands real-time positioning at the centimeter-level accuracy for precise jobs in the open fields. This positioning accuracy can be obtained by using a Global Positioning System (GPS) and employing a single reference station or through utilizing the service of a network of multiple reference stations. The paper first addresses the principles of the RTK positioning from a single reference station and next from a network. The potential of integrating the RTK positioning system and GIS to increase efficiency for machine automation in are explored. Such integration is proposed for implementation in a Supervisory Control and Data Acquisition (SCADA) system. The functionality and process automation of the proposed integrated system are discussed. The logical sequence of the soft PLC process program is illustrated. Two scenarios are presented for field machine automation to precisely operate according to previously preset plans. In addition, an efficient architecture of the integrated system is proposed. To evaluate the obtainable positioning precision when the system is mounted on machines, the RTK system was tested first when using a single reference station and next when using a RTK network. Results show that the system was successful in almost all time to achieve the target positioning precision at the cm level.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117111116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Dynamic cooperative perception and path planning for collision avoidance","authors":"M. A. Shah, N. Aouf","doi":"10.1109/ISMA.2009.5164802","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164802","url":null,"abstract":"This paper deals with cooperative path and cooperative perception of Unmanned Aerial Vehicles (UAVs) in dynamic environment. Differential geometry techniques based on Pythagorean Hodographs (PH) are adapted to plan cooperatively path of UAVs in order to avoid obstacles. These obstacles are proposed in this paper to be both static and moving obstacles. In case of moving obstacles, we propose to develop cooperative perception algorithms based on multiple views geometry optimization/estimation scheme to accurately predict obstacle trajectories. These estimated trajectories in conjunction with PH curves to amend current UAV paths. Simulation results based on swarm of UAVs scenario show the efficiency of the proposed techniques.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123643790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Optimization of the active contour snaxels for human gait tracking","authors":"Mohammadreza Pourfard, K. Faez, M. Abdollahifard","doi":"10.1109/ISMA.2009.5164814","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164814","url":null,"abstract":"Tracking an object is one the most considerable and applicable field of the machine vision. In this field, tracking a non-rigid object like human are so difficult because of variable shape of this kind of object and the self-occlusion that normally between different parts of the human body occurs.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129733131","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Suraj Nair, G. Panin, T. Roder, T. Friedlhuber, A. Knoll
{"title":"A distributed and scalable person tracking system for robotic visual servoing with 8 dof in virtual reality TV studio automation","authors":"Suraj Nair, G. Panin, T. Roder, T. Friedlhuber, A. Knoll","doi":"10.1109/ISMA.2009.5164807","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164807","url":null,"abstract":"In this paper, a distributed and scalable person tracking system for visual servoing using Industrial Robot Arms for virtual reality television studios (VR-TV) is presented. The system robustly tracks the moderator while freely moving, sitting or walking around the studio, and the estimation result can be used to drive the main broadcasting camera mounted on a large robotic arm connected with a pan tilt unit. The system consists of a person tracking system operating on the TV camera, which localizes the moderator in its field of view, and a overhead tracking system which localizes the moderator over the complete studio environment. The system is completely scalable in scenarios where a single scene is to be shot from multiple angles using multiple TV cameras. A common overhead tracking system monitors the moderator over the complete studio environment allowing the individual camera systems to initialize themselves and re-initialize in case of target loss. Application of the proposed tracking system to real-time VR-TV results in a robot cameraman, able to keep the moderator inside the screen with jitter-free viewpoint adjustments, as required by the VR scene rendering engine.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132520878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Amer Al-Radaideh, Mohammad Amin Al-Jarrah, Ali Jhemi, R. Dhaouadi
{"title":"ARF60 AUS-UAV modeling, system identification, guidance and control: Validation through hardware in the loop simulation","authors":"Amer Al-Radaideh, Mohammad Amin Al-Jarrah, Ali Jhemi, R. Dhaouadi","doi":"10.1109/ISMA.2009.5164799","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164799","url":null,"abstract":"Automatic control of Unmanned Aerial Vehicles (UAVs) has been a growing area of research in aerospace technology for a long time, yet this area needs a great deal of development in order to get a reliable autonomous system capable of performing all types of maneuvers with high degree of stability and desired performance. In this paper, the development and building of a fully functioning test bed UAV platform is illustrated. The test-bed includes an enhanced hardware in the loop simulation “HILS” system to facilitate the development of the flight control system (FCS). Furthermore, the design of the guidance laws, autopilots implementation on the embedded system were integrated with the Hardware in the Loop Simulation (HILS). Finally, trajectory following results were demonstrated.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128320210","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Hussein, Mohd. Zarhamdy Mohd. Zain, R. Ahmad, M. Y. Abdullah
{"title":"Real-time machine controller verification and simulation using control signals emulation","authors":"M. Hussein, Mohd. Zarhamdy Mohd. Zain, R. Ahmad, M. Y. Abdullah","doi":"10.1109/ISMA.2009.5164838","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164838","url":null,"abstract":"The research study explores different types of controller simulation and verification methods and proposes a new method which employs the use of a control signals emulator. The research study has formulated a novel technique for emulating quadrature encoder signals to provide virtual closed loop control of servomotors. The deployment of a control signal emulator technique makes the system unique and removes its dependency on proprietary hardware or software. Enabling the real-time data from the signal emulation environment eases the task of realising a real-time machine simulator.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132062838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}