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  • 1
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    The simplification of fuzzy control algorithm and hardware implementation (1991)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The conventional interface composition algorithm of a fuzzy controller is very time and memory consuming. As a result, it is difficult to do real time fuzzy inference, and most fuzzy controllers are realized by look-up tables. Here, researchers derive a simplified algorithm using the defuzzification mean of maximum. This algorithm takes shorter computation time and needs less memory usage, thus making it possible to compute the fuzzy inference on real time and easy to tune the control rules on line. A hardware implementation based on a simplified fuzzy inference algorithm is described.
    Keywords: CYBERNETICS
    Type: NASA, Lyndon B. Johnson Space Center, Proceedings of the 2nd Joint Technology Workshop on Neural Networks and Fuzzy Logic, Volume 1; p 95-106
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  • 2
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    Interaction dynamics of multiple mobile robots with simple navigation strategies (1989)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.
    Keywords: CYBERNETICS
    Type: Journal of Robotic Systems (ISSN 0741-2223); 6; 77-101
    Format: text
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  • 3
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    Feedback control of vibrations in a moving flexible robot arm with rotary and prismatic joints (1987)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: A robot with a long extendible flexible arm which can also undergo both vertical translation and rotary motion is considered. First, A distributed-parameter model for the robot arm dynamics is developed. It is found that the extending motion could enhance the arm vibrations. Then, a Galerkin-type approximation based on an appropriate time-dependent basis for the solution space is used to obtain an approximate finite-dimensional model for simulation studies. A feedback control for damping the motion-induced vibrations is derived by considering the time rate-of-change of the total vibrational energy of the flexible arm. The authors conclude with some simulation results for a special case with the proposed control law.
    Keywords: CYBERNETICS
    Type: 1987 IEEE International Conference on Robotics and Automation; Mar 31, 1987 - Apr 03, 1987; Raleigh, NC; United States
    Format: text
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  • 4
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    Navigation strategies for multiple autonomous mobile robots moving in formation (1991)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.
    Keywords: CYBERNETICS
    Type: Journal of Robotic Systems (ISSN 0741-2223); 8; 177-195
    Format: text
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  • 5
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    Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains (1989)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.
    Keywords: CYBERNETICS
    Type: International Journal of Control (ISSN 0020-7179); 50; 2109-212
    Format: text
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  • 6
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    Stabilization and control of distributed systems with time-dependent spatial domains (1990)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: This paper considers the problem of the stabilization and control of distributed systems with time-dependent spatial domains. The evolution of the spatial domains with time is described by a finite-dimensional system of ordinary differential equations, while the distributed systems are described by first-order or second-order linear evolution equations defined on appropriate Hilbert spaces. First, results pertaining to the existence and uniqueness of solutions of the system equations are presented. Then, various optimal control and stabilization problems are considered. The paper concludes with some examples which illustrate the application of the main results.
    Keywords: CYBERNETICS
    Type: Journal of Optimization Theory and Applications (ISSN 0022-3239); 65; 331-362
    Format: text
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