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High-Level Robot Control through Logic [chapter]

Murray Shanahan, Mark Witkowski
2001 Lecture Notes in Computer Science  
This paper presents a programmable logic-based agent control system that interleaves planning, plan execution and perception.  ...  Two such programs for a mobile robot are described -one for navigation and one for map building -that share much of their code.  ...  Acknowledgements This work was carried out as part of EPSRC project GR/N13104 "Cognitive Robotics II".  ... 
doi:10.1007/3-540-44631-1_8 fatcat:wjraf3aicjbgvao7igbeylwqfq

Safety on Teleoperation Demining wheeled robots based on fuzzy logic controller and haptic system

Yekkehfallah Majid, Yuanli Cai, Guao Yang, Naebi Ahmad, Zolghadr Javad
2017 Journal of Robotics, Networking and Artificial Life (JRNAL)  
In order to reduce operator's error through fusion of haptic system and fuzzy logic controller, the haptic system conveys vibration to user's hand and fuzzy controller, controls rate of the vibration in  ...  different situation to user hand and controls the speed of the robot.  ...  The level of vibrotactile with respect to different situations as MDS sense, robot's speed and robot's arm status is variable, for controlling level of vibrations and velocity of the robot used fuzzy logic  ... 
doi:10.2991/jrnal.2017.3.4.4 fatcat:pa6yek42abexzhdqerkf5l6zf4

Research on the Teaching Reform of Programming Courses Based on Robotics Education in High School

Xiulin Ma, Chenyu Fan, Sheng Li, Yujuan Jia
2020 Creative Education  
Under these circumstances, this research introduced robot design and application into programming courses for students in high school, using robot teaching as a carrier, and integrating the cultivation  ...  of logical thinking into teaching.  ...  High-level language programming is a basic course for college information technology majors, among which C language programming is a very logical and practical course.  ... 
doi:10.4236/ce.2020.1111169 fatcat:kphadtpbkjcrrc75p6udd5up7e

Safety System for Non-Interventional Flexible Robotic Arm of Orthopedic Robot (OTOROB) Using Fuzzy Control

M. Mariappan, T. Ganesan, V. Ramu, M. Iftikhar
2012 American Journal of Intelligent Systems  
Fuzzy logic control is implemented in the control system as Artificial intelligence (AI) to provide safety features for the robotic arm articulation.  ...  RP6 and the latter version of RP7 are controlled via high-speed Internet from any part on the earth, used by specialists for telerounding in wards and communicate to the medical staffs or patients through  ...  A fuzzy logic control system is introduced to enhance the safety system control algorithm of the flexible robotic arm since fuzzy control provides smooth and non-linear control.  ... 
doi:10.5923/j.ajis.20110101.04 fatcat:7f2z4fl5zjhg5dz3yogwskx7ga

High-Level Multisensor Integration

Thomas C. Henderson, Olivier D. Faugeras, Paul S. Schenker
1989 Sensor Fusion: Spatial Reasoning and Scene Interpretation  
In this paper we describe an approach to high-level multisensor integration in the context of an autonomous mobile robot.  ...  This analysis is organized in terms of robot goals and behaviors. This is accomplished by the use of logical behaviors.  ...  Summary and Future Work High-level multisensor integration must be investigated in the context of real-world problems.  ... 
doi:10.1117/12.948944 fatcat:f4ame6bklbaallvtrwjqkvmntm

Analysis of the displacement of terrestrial mobile robots in corridors using paraconsistent annotated evidential logic eτ [article]

Flavio Amadeu Bernardini, Marcia Terra da Silva, Jair Minoro Abe, Luiz Antonio de Lima, Kanstantsin Miatluk
2020 arXiv   pre-print
This article proposes an algorithm for a servo motor that controls the movement of an autonomous terrestrial mobile robot using Paraconsistent Logic.  ...  The design process of mechatronic systems guided the robot construction phases. The project intends to monitor the robot through its sensors that send positioning signals to the microcontroller.  ...  The high and low-level intervals depend on the load values of the microcontroller time recorder, and the duration of these high-level intervals is controlled using the Positive Duty variable.  ... 
arXiv:2009.14192v1 fatcat:kncc4kj5tnepdf6kq4mfssqyne

Fuzzy logic based adjustment control of a cable-driven auto-leveling parallel robot

Yi Yu, Jianqiang Yi, Chengdong Li, Dongbin Zhao, Jianhong Zhang
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
To solve the level-adjusting and force-tuning problems of high accurate and costly payloads when loading and unloading, a cable-driven auto-leveling parallel robot is developed.  ...  The hierarchical fuzzy controller contains two layers -the low level layer which generates two outputs for leveling adjustment and force tuning, and the high level layer which is used to coordinate the  ...  In Section III, the hierarchical controller for the cable-driven auto-leveling parallel robot, which contains a low level layer and a high level layer, is developed.  ... 
doi:10.1109/iros.2009.5354513 dblp:conf/iros/YuYLZZ09 fatcat:wnjnjfytybfyxgc7y3b5h4u724

Acceptability Level of Operator Interface Controller of Robotic Arm

johnny Q. Tagupa Msit
2022 Journal of Artificial Intelligence, Machine Learning and Neural Network  
Through the use of this device, the student will gain knowledge and ideas on the operation of robotic arm, Programmable Logic Controller, Human Machine Interface programming, and the learning competencies  ...  The level of acceptability of the Operator Interface Controller of Robotic Arm gained an average weighted mean of 3.84 with the description "very high".  ...  For this reason, the researcher will design, assemble and assess the acceptability level of the Operator Interface Controller of Robotic Arm through the use of this device, the student will gain knowledge  ... 
doi:10.55529/jaimlnn.23.46.50 fatcat:q2lm32dw5rgezj5okw2bong5pa

Hierarchical distributed architectures for autonomous mobile robots: A case study

Jose Luis Azevedo, Bernardo Cunha, Luis Almeida
2007 2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007)  
These robots use a distributed hardware architecture with a central computer to carry out vision sensing, global coordination and deliberative functions and a low-level distributed sensing and actuation  ...  system based on a set of simple microcontroller nodes interconnected with a Controller Area Network (CAN).  ...  This work was partially supported by IEETA, Aveiro, Portugal and by the European Commission through the ARTIST2 NoE (IST-2-004527).  ... 
doi:10.1109/efta.2007.4416889 dblp:conf/etfa/AzevedoCA07 fatcat:rp3flyl5v5aqvibvqwgij5beay

Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter

Claudio Urrea, Daniel Jara
2021 Symmetry  
by interpolation, adaptive control, and fuzzy logic.  ...  The first link of this robot is driven by an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through a three-phase multi-level inverter with 27 levels of voltage per phase.  ...  • Cascaded multi-level inverters used to work with high voltage and power levels.  ... 
doi:10.3390/sym13010086 fatcat:ufk6w5fmqvba7f64fxj2rlij54

Temporal Logic Motion Planning

Motlatsi Seotsanyana
2010 Defence Science Journal  
The use of theory of computation and formal methods, tools and techniques present a promising direction of research in solving motion planning problems that are influenced by high-level specification of  ...  address the following problems: (a) In a realistic situation, the motion planning problem is carried out in real-time, in a dynamic, uncertain and ever-changing environment, and (b) The accomplishment of high-level  ...  The synthesiser (or compiler) takes two inputs: (1) a model of a robotic problem and (2) a set of high-level specifications expressed in temporal logic and outputs a synthesised controller that produces  ... 
doi:10.14429/dsj.60.99 fatcat:ojiq74342rd43kdfi5fzkfxr7y

Formal synthesis of supervisory control software for multiple robot systems

J. Goryca, R. C. Hill
2013 2013 American Control Conference  
The resulting high-level robot events are then connected to the continuous, time-driven behavior of the robots through a series of low-level algorithms.  ...  Specifically, existing discrete event system theory is applied to synthesize high-level supervisory control logic that is guaranteed to maintain the behavior of multiple robots within requirements defined  ...  The data structure that is generated is then employed by a high-level control algorithm for each robot.  ... 
doi:10.1109/acc.2013.6579825 fatcat:2choyqv7j5habf2trqo5qq7n5a

The Cognitive Controller: A Hybrid, Deliberative/Reactive Control Architecture for Autonomous Robots [chapter]

Faisal Qureshi, Demetri Terzopoulos, Ross Gillett
2004 Lecture Notes in Computer Science  
to "think ahead", performing more complex high-level tasks that require planning.  ...  We demonstrate CoCo in the context of space robotics-specifically the control of a vision-guided robotic manipulator that can autonomously capture a free-flying satellite in the presence of unforeseen  ...  Acknowledgements The authors thank MD Robotics Limited and Precarn Associates for funding this work, and acknowledge the valuable technical contributions of Dr. P. Jasiobedzki, H.K. Ng, S. Greene, J.  ... 
doi:10.1007/978-3-540-24677-0_113 fatcat:ryswmytyd5aytmpu4icrepqi5y

A distributed architecture for executing complex tasks with multiple robots

T. Maenpaa, A. Tikanmaki, J. Riekki, J. Roning
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper presents a software architecture for the network-transparent control of distributed robotic systems.  ...  The system consists of two main components: a generic and easily extensible CORBA-based interface to distributed services, and a high-level XML-based description language for specifying the behavior of  ...  Through the hierarchical execution mechanism, it is easy to import complex actions that appear as single states on a high-level state machine.  ... 
doi:10.1109/robot.2004.1308787 dblp:conf/icra/MaenpaaTRR04 fatcat:oo6olncujncpzfogv6oyxxoj54

Raptor: A Design of a Drain Inspection Robot

M A Viraj J Muthugala, Povendhan Palanisamy, S M Bhagya P Samarakoon, Saurav Ghante Anantha Padmanabha, Mohan Rajesh Elara, Dylan Ng Terntzer
2021 Sensors  
Thus, a fuzzy logic controller has been introduced to the robot to cater to this demand.  ...  Therefore, the proposed robot design and the controller would be helpful in improving the productivity of robot-aided inspection of drains.  ...  This section describes how high-level velocity commands are converted to low-level wheel angular velocities through the kinematic model.  ... 
doi:10.3390/s21175742 pmid:34502633 pmcid:PMC8434159 fatcat:2huvdlg7zzbylji2cfuqns4rcm
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