• Title/Summary/Keyword: intelligent algorithm

Search Result 3,402, Processing Time 0.026 seconds

Action Selection by Voting with Loaming Capability for a Behavior-based Control Approach (행동기반 제어방식을 위한 득점과 학습을 통한 행동선택기법)

  • Jeong, S.M.;Oh, S.R.;Yoon, D.Y.;You, B.J.;Chung, C.C.
    • Proceedings of the KIEE Conference
    • /
    • 2002.11c
    • /
    • pp.163-168
    • /
    • 2002
  • The voting algorithm for action selection performs self-improvement by Reinforcement learning algorithm in the dynamic environment. The proposed voting algorithm improves the navigation of the robot by adapting the eligibility of the behaviors and determining the Command Set Generator (CGS). The Navigator that using a proposed voting algorithm corresponds to the CGS for giving the weight values and taking the reward values. It is necessary to decide which Command Set control the mobile robot at given time and to select among the candidate actions. The Command Set was learnt online by means as Q-learning. Action Selector compares Q-values of Navigator with Heterogeneous behaviors. Finally, real-world experimentation was carried out. Results show the good performance for the selection on command set as well as the convergence of Q-value.

  • PDF

Development of Force/Torque Sensor and Compliance Algorithm for Assembly Robots (조립용 로보트의 힘.토오크 센서 및 컴플라이언스 알고리즘의 개발)

  • Ko, Nak-Yong;Ko, Myoung-Sam;Ha, In-Joong;Lee, Bum-Hee
    • Proceedings of the KIEE Conference
    • /
    • 1987.07a
    • /
    • pp.244-248
    • /
    • 1987
  • The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure $T_x$, $T_y$, $F_z$ which are necessary to precisely execute a peg-in-hole insertion task by SCARA type assembly robot. The outputs of sensor are analyzed. On the basis of the analysis, compliance algorithm for peg-in-hole insertion task is developed. Some comments concerning the development of wrist force/torque sensor and compliance algorithm are given.

  • PDF

A New Intelligent Tracking Algorithm Using Fuzzy Kalman Filter (퍼지 칼만 필터를 이용한 새로운 지능형 추적 알고리즘)

  • Noh Sun-Young;Joo Young-Hoon;Park Jin-Bae
    • Journal of the Korean Institute of Intelligent Systems
    • /
    • v.15 no.5
    • /
    • pp.593-598
    • /
    • 2005
  • The standard Kalman filter has been used to estimate the states of the target, but in the presence of a maneuver, its error is occurred and performance may be seriously degraded. To solve this problem, this paper presents a new intelligent tracking algorithm using the fuzzy Kalman filter. In this algorithm, the unknown acceleration is regarded as an additive process noise by using the fuzzy logic based on genetic algorithm(GA) method. And then, the modified filter is corrected by the new update equation method which is a fuzzy system using the relation between the filter residual and its variation. To shows the feasibility of the suggested method with only one filter, the computer simulations system are provided, this method is compared with multiple model method.

Immune Algorithm Controller Design of DC Motor with parameters variation (DC 모터 파라메터 변동에 대한 면역 알고리즘 제어기 설계)

  • 박진현;전향식;이민중;김현식;최영규
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • 2002.05a
    • /
    • pp.175-178
    • /
    • 2002
  • The proposed immune algorithm has an uncomplicated structure and memory-cell mechanism as the optimization algorithm which imitates the principle of humoral immune response, and has been used as methods to solve parameter optimization problems. Up to now, the applications of immune algorithm have been optimization problems with non-varying system parameters. Therefore, the effect of memory-cell mechanism, which is a merit of immune algorithm, is without. this paper proposes the immune algorithm using a memory-cell mechanism which can be the application of system with nonlinear varying parameters. To verified performance of the proposed immune algorithm, the speed control of nonlinear DC motor are performed. Computer simulation studies show that the proposed immune algorithm has a fast convergence speed and a good control performances under the varying system parameters.

  • PDF

A Study on the Environment Recognition System of Biped Robot for Stable Walking (안정적 보행을 위한 이족 로봇의 환경 인식 시스템 연구)

  • Song, Hee-Jun;Lee, Seon-Gu;Kang, Tae-Gu;Kim, Dong-Won;Park, Gwi-Tae
    • Proceedings of the KIEE Conference
    • /
    • 2006.07d
    • /
    • pp.1977-1978
    • /
    • 2006
  • This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

  • PDF

Collision Avoidance Algorithm of an Intelligent Wheelchair Considering the User's Safety with a Moving Obstacle (탑승자의 안전을 고려한 지능형 휠체어의 단일 이동 장애물 충돌회피 알고리즘)

  • Kim, Yong Hwi;Yoon, Tae Sung;Park, Jin Bae
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.19 no.10
    • /
    • pp.936-940
    • /
    • 2013
  • As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair's velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.

Design of Hybrid Magnetic Levitation System using Intellignet Optimization Algorithm (지능형 최적화 기법 이용한 하이브리드 자기부상 시스템의 설계)

  • Cho, Jae-Hoon;Kim, Yong-Tae
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.66 no.12
    • /
    • pp.1782-1791
    • /
    • 2017
  • In this paper, an optimal design of hybrid magnetic levitation(Maglev) system using intelligent optimization algorithms is proposed. The proposed maglev system adopts hybrid suspension system with permanent-magnet(PM) and electro magnet(EM) to reduce the suspension power loss and the teaching-learning based optimization(TLBO) that can overcome the drawbacks of conventional intelligent optimization algorithm is used. To obtain the mathematical model of hybrid suspension system, the magnetic equivalent circuit including leakage fluxes are used. Also, design restrictions such as cross section areas of PM and EM, the maximum length of PM, magnetic force are considered to choose the optimal parameters by intelligent optimization algorithm. To meet desired suspension power and lower power loss, the multi object function is proposed. To verify the proposed object function and intelligent optimization algorithms, we analyze the performance using the mean value and standard error of 10 simulation results. The simulation results show that the proposed method is more effective than conventional optimization methods.

Intelligent Kalman Filter for Tracking an Anti-Ship Missile

  • Lee, Bum-Jik
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • 2004.04a
    • /
    • pp.563-566
    • /
    • 2004
  • An intelligent Kalman filter (IKF) is proposed for tracking an incoming anti-ship missile. In the proposed IKF, the unknown target acceleration is regarded as an additive process noise. When the target maneuver is occurred, the residual of the Kalman filter increases in proportion to its magnitude. From this fact, the overall process noise variance can be approximated from the filter residual and its variation at every sampling time. A fuzzy system is utilized to approximate this valiance, and the genetic algorithm (GA) is applied to optimize the fuzzy system. In computer simulations, the tracking performance of the proposed IKF is compared with those of conventional maneuvering target tracking methods.

  • PDF

Active Vibration Control of Flexible Cantilever Beam by Intelligent Control Technique (지능제어 기법에 의한 유연 외팔보의 능동 진동제어)

  • Shin, J.;Park, S. H.;Oh, J. E.
    • Transactions of the Korean Society of Automotive Engineers
    • /
    • v.5 no.2
    • /
    • pp.205-212
    • /
    • 1997
  • In this study, active vibration control for a flexible cantilever beam was performed by using the intelligent control technique. The intelligent control method which integrating the back propagation algorithm and the fuzzy inference technique was proposed and its performance was examined. The proposed control algorithm for the flexible cantilever beam was verified via computer simulation of active vibration control. Furthermore, the control system and its efficiency were investigated via experiments on active vibration control by the intelligent control technique without a digital signal processing device.

  • PDF

Intelligent interface using hand gestures recognition based on artificial intelligence (인공지능 기반 손 체스처 인식 정보를 활용한 지능형 인터페이스)

  • Hangjun Cho;Junwoo Yoo;Eun Soo Kim;Young Jae Lee
    • Journal of Platform Technology
    • /
    • v.11 no.1
    • /
    • pp.38-51
    • /
    • 2023
  • We propose an intelligent interface algorithm using hand gesture recognition information based on artificial intelligence. This method is functionally an interface that recognizes various motions quickly and intelligently by using MediaPipe and artificial intelligence techniques such as KNN, LSTM, and CNN to track and recognize user hand gestures. To evaluate the performance of the proposed algorithm, it is applied to a self-made 2D top-view racing game and robot control. As a result of applying the algorithm, it was possible to control various movements of the virtual object in the game in detail and robustly. And the result of applying the algorithm to the robot control in the real world, it was possible to control movement, stop, left turn, and right turn. In addition, by controlling the main character of the game and the robot in the real world at the same time, the optimized motion was implemented as an intelligent interface for controlling the coexistence space of virtual and real world. The proposed algorithm enables sophisticated control according to natural and intuitive characteristics using the body and fine movement recognition of fingers, and has the advantage of being skilled in a short period of time, so it can be used as basic data for developing intelligent user interfaces.

  • PDF