scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics

2020 ◽  
Vol 7 (6) ◽  
pp. 68-86
Author(s):  
Aleksey M. Romanov
Keyword(s):  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Point Of View ◽  
Robotic Systems ◽  
Service Robotics ◽  
Computing Device ◽  
Common System ◽  
Common Block ◽  
Multi Level

A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used.

scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

2019 ◽  
Vol 7 (5) ◽  
pp. 30-46 ◽  
Author(s):  
A. M. Romanov
Keyword(s):  
Control System ◽  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Industrial Robot ◽  
Cloud Service ◽  
Point Of View ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Industrial Robotics

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.

scholarly journals EVOLUTIONAL METHODS FOR CREATING ARTIFICIAL INTELLIGENCE OF ROBOTIC TECHNICAL SYSTEMS

2018 ◽  
Vol 16 (2) ◽  
pp. 148-152 ◽  
Author(s):  
Askhat I. Diveev ◽  
Sabit Ibadulla
Keyword(s):  
Artificial Intelligence ◽  
Genetic Programming ◽  
Control Systems ◽  
Intelligent Control ◽  
Symbolic Regression ◽  
Robotic Systems ◽  
Basic Solution ◽  
Intelligent Control Systems ◽  
Intellectual Control ◽  
Technical Systems

This paper considers evolutionary methods of symbolic regression for the creation of artificial intelligence of robotic systems. Methods of symbolic regression are reviewed and the features of their application to the solution of the problem of synthesis of control of robotic systems are indicated. The measure of the complexity of artificial intelligence is determined and the advantage of using the principle of small variations of the basic solution is shown, while creating intelligent control systems. A method of variational genetic programming is described and an example of its use for the synthesis of intellectual control is given.

The Control of the Eye's Intrinsic Muscles: A Multivariable Optimum Performance Control System

1968 ◽  
Vol 1 (8) ◽  
pp. T.129-T.132 ◽  
Author(s):  
F. M. Toates
Keyword(s):  
Control System ◽  
Control Systems ◽  
Pupil Diameter ◽  
Control Model ◽  
Point Of View ◽  
Theoretical Point ◽  
Pupil Control ◽  
Performance Control ◽  
A Value ◽  
Intrinsic Muscles

The reciprocal interaction between the accommodation and pupil control systems of the human eye is examined from a theoretical point of view. The system, which is responsible for maintaining pupil diameter at a value which is a compromise between conflicting requirements, is represented by a control model, and is considered in terms of the concept of a performance index.

Sign in / Sign up

Export Citation Format

Share Document