The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems

2007 ◽  
pp. 494-497 ◽  
Author(s):  
Martin Proetzsch ◽  
Tobias Luksch ◽  
Karsten Berns
Keyword(s):  
Robotic Systems ◽  
Control Architecture

scholarly journals Towards a More Robust Non-Rigid Robotic Joint

2020 ◽  
Vol 3 (4) ◽  
pp. 45
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Robotic Manipulators ◽  
Robotic Systems ◽  
Control Architecture ◽  
Effective Solution ◽  
Adverse Conditions ◽  
Compliant Control ◽  
Rigid Joints ◽  
Final System

The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.

scholarly journals PROBLEMS OF CONTROL OF MIDWATER TRAWL COMPLEXES USING EQUATIONS OF ELECTRIC AND MECHANICAL DRIVES OF TRAWL WINCHES

2020 ◽  
Vol 2020 (4) ◽  
pp. 93-101
Author(s):  
Aleksandr Nedostup ◽  
Alexey Olegovich Razhev ◽  
Vyacheslav Valerievich Makarov
Keyword(s):  
Artificial Intelligence ◽  
Predictive Modeling ◽  
Information Technologies ◽  
Interdisciplinary Approach ◽  
Robotic Systems ◽  
Control Architecture ◽  
New Materials ◽  
Midwater Trawl ◽  
Modern Information ◽  
Self Learning

The paper touches upon the problems of transition to advanced digital, intelligent man-ufacturing technologies, robotic systems, new materials and design methods, the creation of systems for processing large amounts of data, machine learning and artificial intelligence. Automation of fishing process requires an interdisciplinary approach using modern information technologies. The possibility of using artificial intelligence technologies for solving the problems of predictive modeling of the behavior of a trawl system while fishing on a self-learning neural network has been proved. The equations of electric and mechanical drives of trawl winches for controlling the shape-changing design of a midwater trawl are given. The question of improving the control characteristics of a midwater trawl system by introducing a control architecture adapted for the trawl system taking into account the industrial requirements and by developing a mathematical model of the trawl system, in-cluding an accurate model of hydrodynamic forces on the trawl flaps is considered.

scholarly journals Morphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators

2022 ◽  
Vol 8 ◽  
Author(s):  
Edoardo Milana ◽  
Bert Van Raemdonck ◽  
Andrea Serrano Casla ◽  
Michael De Volder ◽  
Dominiek Reynaerts ◽  
...  
Keyword(s):  
Mechanical Characteristics ◽  
Travelling Wave ◽  
Robotic Systems ◽  
Control Architecture ◽  
Nonlinear Characteristics ◽  
Morphological Control ◽  
Passive Flow ◽  
Control Schemes ◽  
Nonlinear Relation ◽  
Swept Area

Soft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named “morphological control”, and it can be used to decrease the number of components (tubing, valves and regulators) required by the controller. In this paper, we demonstrate morphological control of bio-inspired asymmetric motions for systems of soft bending actuators that are interconnected with passive flow restrictors. We introduce bending actuators consisting out of a cylindrical latex balloon in a flexible PVC shell. By tuning the radii of the tube and the shell, we obtain a nonlinear relation between internal pressure and volume in the actuator with a peak and valley in pressure. Because of the nonlinear characteristics of the actuators, they can be assembled in a system with a single pressure input where they bend in a discrete, preprogrammed sequence. We design and analyze two such systems inspired by the asymmetric movements of biological cilia. The first replicates the swept area of individual cilia, having a different forward and backward stroke, and the second generates a travelling wave across an array of cilia.

Hybrid event based control architecture for tele-robotic systems controlled through Internet

2004 ◽  
Vol 5 (3) ◽  
pp. 296-302 ◽  
Author(s):  
Xiao-ming Li ◽  
Can-jun Yang ◽  
Ying Chen ◽  
Xu-dong Hu
Keyword(s):  
Robotic Systems ◽  
Control Architecture ◽  
Event Based ◽  
Hybrid Event

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

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