Devendra P. Garg's research while affiliated with Duke University and other places

Publications (102)

Article
The problem of perimeter detection and monitoring has a variety of applications. In this paper, a hybrid system of finite states is proposed for multiple autonomous robotic agents with the purpose of hazardous spill perimeter detection and tracking. In the system, each robotic agent is assumed to be in one of three states: searching, pursuing, and...
Conference Paper
In this paper, we propose a fully distributed, scalable method of controlling agents with nonholonomic constraints using a Morse potential function. This method successfully controls a swarm of differential-drive (unicycle-type) agents to stable and predictable formations whose structures are not defined a priori. The system achieves a stable, mini...
Conference Paper
This paper presents a decentralized control algorithm for the Entrapment/Escorting Mission based on the Morse potential function. The entrapment/escorting mission tasks a multi-agent system with creating a formation around a mobile target. Applications of the mission include security awareness and military situations where an autonomous object of v...
Article
Many swarm robotics problems focus on the details of robotic dynamics, while ignoring certain other practical issues such as the boundedness of the exploration space, the probability of unsuccessful communication or sensing between agents, knowledge of a common coordinate system, or the initial distribution of robots. A two-phase control is devised...
Conference Paper
Formation of patterns in a system of interacting units of heterogeneous types is a self-organized behavior which is seen in many biological systems. Earlier research in this area has indicated that such pattern formation behaviors in biological cells and tissues are made possible because of difference in the adhesivity between different types of ce...
Article
Motility is an important property of immune system cells. It provides cells with the ability to perform their function not only at the right time but also at the right place. In this paper, we introduce the problem of modeling and estimating an effective force field directing cell movement by the analysis of intravital video microscopy. A computati...
Article
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a modified consensus problem wherein the connectivity of agents is governed by probabilistic functions. The additi...
Conference Paper
Cooperative mobile robots must have knowledge of their positions relative to the group in which they are operating. Common on-board sensors such as laser rangefinders may be used to detect and track other robots with high precision, though limited feature recognition and susceptibility to occlusion reduces the efficacy of this solution alone. Match...
Conference Paper
Multi-agent robotic systems utilizing one-to-one communication between individuals necessarily require that each robot has a unique identity, such that shared information is appropriately utilized. When used with a central computer and external vision system, various methods may be used to identify individuals, including unique patterns. This requi...
Article
Full-text available
There are several examples in natural systems that exhibit the self-organizing behavior of segregation when different types of units interact with each other. One of the best examples is a system of biological cells of heterogeneous types that has the ability to self-organize into specific formations, form different types of organs and, ultimately,...
Conference Paper
Perimeter detection and surveillance by a distributed swarm of autonomous agents offers a solution in multiple cases where human safety or environmental protection is of concern. An algorithmic method is developed for detection and surveillance of one or more dynamic perimeters via distributed control under local-area sensing and communication. Loc...
Article
Motivated by the close relation between estimation and con-trol problems, we explore the possibility to utilize stochastic sam-pling for computing the optimal control for a large-size robot population. We assume that the individual robot state is com-posed of discrete and continuous components, while the popula-tion is controlled in a probability s...
Article
Collective robotics offers the promise of enhanced perfor-mance and robustness relative to that of individual robots, with decreased cost or time-to-completion for certain tasks. Having many degrees of freedom, the multi-robot control and estima-tion problems are challenging, specifically when the solutions require a great amount of communication a...
Conference Paper
The problem of perimeter detection and monitoring has a variety of applications. In this paper, a hybrid system with finite states strategy is proposed for multiple autonomous robotic agents with the purpose of hazardous spill perimeter detection and tracking. In the system, each robotic agent is assumed to be in one of the following states: search...
Conference Paper
Motility is an important property of immune system cells. To describe cell motility, we use a continuous stochastic process and estimate its parameters and driving force based on a maximum likelihood approach. In order to improve the convergence of the maximization procedure, we use expectation-maximization (EM) iterations. The iterations include n...
Article
In this report we consider control of single- and multi-robot systems as an optimal control problem. Solution of this problem may be of enormous complexity because of a large-number of robots, a large number of redundant states, and environment uncertainties. Motivated by estimation methods based on statistical sampling employed for solving complex...
Chapter
Sensors measurements are inherently uncertain and often inconsistent. Appropriate consideration of uncertainty and identification/elimination of inconsistent measurements are essential for carrying out accurate estimation. The research reported in this chapter proposes a unified and formalized approach to fuse data from multiple sources which can t...
Article
Swarm robotics offers the promise of enhanced perfor-mance and robustness relative to that of individual robots, with decreased cost or time-to-completion for certain tasks. Having many degrees of freedom, the swarm related con-trol and estimation problems are quite challenging, specifi-cally when the solutions involve a large amount of commu-nicat...
Conference Paper
Sorting of heterogeneous units is a self-organized behavior which is seen in many biological systems. One of the best examples of such systems is a system of biological cells of heterogeneous types that has the ability to self-organize into specific formations, form different types of organs and, ultimately, develop into a living organism. Earlier...
Conference Paper
This paper investigates the effectiveness of designed random behavior in self-organization of swarm of robotic agents. Inspired by the self-organization observed in biological cells and the role played by random forces in providing robustness in cell self-organization, we investigate the possibility of designing a decentralized controller for a swa...
Conference Paper
In this paper, the design of a controller is proposed for a multi-robot target search and retrieval system. Inspired by research in insect foraging and swarm robotics, we developed a transition mechanism for the multi-robot system. Environmental information and task performance obtained by the robot system are used to adjust individual robot’s para...
Chapter
Conventional control techiques such as DIP control, robust control, and optimal control have traditionally been used to control linear and nonlinear systems. These techniques are based on the model of the system, and their performance is largely dependent on the accuracy of the model. Modern control systems are charactgerized by their increassing c...
Article
One of the major problems in sensor fusion is that sensors frequently provide spurious observations which are difficult to predict and model. The spurious measurements from sensors must be identified and eliminated since their incorporation in the fusion pool might lead to inaccurate estimation. This paper presents a unified sensor fusion strategy...
Conference Paper
This paper investigates the effectiveness of designed random behavior in cooperative formation control of multiple mobile agents. A method based on artificial potential functions provides a framework for decentralized control of their formation. However, it implies heavy communication costs. The communication requirement can be replaced by onboard...
Conference Paper
Full-text available
This paper presents a sensor fusion strategy based on Bayesian method that can identify the inconsistency in sensor data so that spurious data can be eliminated from the sensor fusion process. The proposed method adds a term to the commonly used Bayesian technique that represents the probabilistic estimate corresponding to the event that the data i...
Article
One of the major problems in sensor fusion is that sensors frequently provide spurious observations which are difficult to predict and model. The spurious data from sensors must be identified and eliminated from the sensor fusion since its incorporation in the fusion pool might lead to inaccurate estimation. This paper presents a sensor fusion stra...
Conference Paper
The main emphasis of this paper is on grasp planning for a two-fingered parallel jawed gripper (typically used in industries) utilizing visual feedback for improved grasping for a planar object. Appropriate placement of fingers on the object plays an important role in grasp stability. This task is relatively easier for a priori-known target. But wh...
Conference Paper
This paper presents comprehensive and unified strategies to model, analyze, and control flexible manufacturing systems (FMSs) in an uncertain and dynamic environment using Petri Net (PN) based modeling. The proposed methodology enables PN models to accept and assimilate online data at execution time. A measurement system consisting of distributed s...
Conference Paper
Full-text available
This paper presents a strategy to fuse information from two vision sensors and one infrared proximity sensor to obtain a three-dimensional occupancy profile of robotic workspace, identify key features, and obtain a 3-D model of the objects in the work space. The two vision sensors are mounted on a stereo rig on the sidewall of the robotic workcell....
Article
This research report presents a novel strategy to develop a sensor model based on a probabilistic approach that would accurately provide information about individual sensor's uncertainties and limitations. The strategy also establishes the dependence of sensor's uncertainties on some of environmental parameters or parameters of any feature extracti...
Article
Purpose The paper aims to advance methodologies to optimize fuzzy logic controller parameters via neural network and use the neuro‐fuzzy scheme to control two cooperating robots. Design/methodology/approach The paper presents a special neural network architecture that can be converted to fuzzy logic controller. Concepts of model predictive control...
Article
The major thrust of this paper is to develop a sensor model based on a probabilistic approach that could accurately provide information about individual sensor’s uncertainties and limitations. The sensor model aims to provide a most informative likelihood function that can be used to obtain a statistical and probabilistic estimate of uncertainties...
Article
Control of multiple robots presents numerous challenges, some of which include synchronization in terms of position, motion, force, load sharing and internal force minimization. This paper presents formulation and application of a fuzzy logic based strategy for control of two 6 degree-of-freedom robots carrying an object in a cooperative mode. The...
Conference Paper
The extensive and rapid developments currently taking place in the areas of micro-electro-mechanical systems (MEMS) and nanotechnology are radically changing the field of sensor design and implementation. Ranging all the way from defense, aerospace, automotive, energy, healthcare delivery and medicine to information technology, electronics, chemica...
Conference Paper
Design of an efficient fuzzy logic controller involves the optimization of parameters of fuzzy sets and proper choice of rule base. There are several techniques reported in recent literature that use neural network architecture and genetic algorithms to learn and optimize a fuzzy logic controller. This paper presents methodologies to learn and opti...
Conference Paper
Full-text available
This paper advances specific strategies that can be utilized to fuse data from some of the most extensively used sensors in robotic workcells viz. vision sensors and proximity sensors. Vision sensor and proximity sensor are used to obtain the workspace occupancy information. Data from these redundant, yet diverse, sensors have been fused using Baye...
Conference Paper
This paper discusses the use of multiple vision sensors and a proximity sensor to obtain three-dimensional occupancy profile of robotic workspace, identify key features, and obtain a 3-D model of the objects in the work space. The present research makes use of three identical vision sensors. Two of these sensors are mounted on a stereo rig on the s...
Conference Paper
This paper deals with the design and optimization of a Fuzzy Logic Controller that is used in the obstacle avoidance and path tracking problems of mobile robot navigation. The Fuzzy Logic controller is tuned using reinforcement learning controlled Genetic Algorithm. The operator probabilities of the Genetic Algorithm are adapted using reinforcement...
Article
Control of multiple robots presents numerous challenges, some of which include synchro-nization in terms of position, motion, force, load sharing and internal force minimization. This paper presents formulation and application of a fuzzy logic based strategy for control of two 6 degree-of-freedom robots carrying an object in a cooperative mode. The...
Article
The research presented in this paper involves the use of multiple cameras to identify key features of an object, obtain a 3-D model and classify the object into some known classes of objects. The paper also investigates the use of Bayesian technique to fuse the information obtained from multiple vision sources. The proposed algorithm is able to det...
Article
In this paper we emphasize several advances recently made in the area of structural damping aimed towards reducing, and preferably eliminating, mechanical vibrations. First, a few commonly encountered undesirable effects of vibrations on structures are discussed. This is followed by an identification of research needs, and a discussion of typical r...
Conference Paper
Control of multiple robots presents numerous challenges, some of which include synchronization in terms of position, motion, force, load sharing and internal force minimization. This paper presents formulation and application of a fuzzy logic based strategy for control of two six degree-of-freedom robots carrying an object in a cooperative mode. Th...
Conference Paper
This paper presents formulation and application of a strategy for control of two six degree-of-freedom robots carrying a common object in a cooperative mode. The paper focuses on control of internal forces that are generated when two or more robots carry an object in coordination. A combined position-force control scheme based on fuzzy logic is pro...
Conference Paper
This paper discusses the potential of nanoscale technologies with particular attention devoted to applications in the defense area. Innovative techniques for structural damping and vibration control are of much interest to the Structures and Dynamics Program at the United States Army Research Office (ARO). Since nanotechnology is a new and differen...
Conference Paper
The requirement to quickly change a product, the need to deliver high quality component, and a desire to reduce manufacturing related costs has led to the development of flexible work-cells. Integration of different sensors along with the careful selection/design of fixtures can add to the flexibility of a work-cell. Furthermore, an effective contr...
Conference Paper
This paper deals with the Fuzzy Logic control of a Magnetic Levitation system [1] available in the Robotics and Control Laboratory at Duke University. The laboratory Magnetic Levitation system primarily consists of a metallic ball, an electromagnet and an infrared optical sensor. The objective of the control experiment is to balance the metallic ba...
Article
Full-text available
New adaptive structural systems comprised of optimal material combinations, innovative sensors and actuators, and control subsystems need to be developed and tailored for damage tolerant applications associated with severe loading conditions and harsh environments. In this position paper, fundamental considerations related to the modeling, design,...
Article
This paper presents the formulation and application of a strategy for the determination of an optimal trajectory for a multiple robotic configuration. Genetic Algorithm (GA) and Simulated Annealing (SA) have been used as the optimization techniques and results obtained from them compared. First, the motivation for multiple robot control and the cur...
Conference Paper
This paper reports several advances in research made toward controlling unwanted vibrations in rotorcraft systems. Usually, these vibrations arise from a non-steady and aerodynamically complex environment in which a rotorcraft (e.g., a helicopter) operates. The other major sources of vibration include the structurally coupled rotating components in...
Conference Paper
Full-text available
This paper presents the formulation and implementation of a strategy for multi sensor fusion. First, the concept of multiple sensors for decision-making, their need, various prevalent methodologies and implementation strategy are briefly discussed. This is followed by a description of recent research results published on multisensor fusion and its...
Conference Paper
The real-time control of multiple robots requires the design and implementation of innovative techniques to overcome the inherent complexities of a multi-agent closed kinematic system. This paper presents an application of software based control as a means for utilizing novel control algorithms on real-world multiple robotic systems. The configurat...
Conference Paper
This paper presents two schemes for the control of robotic manipulator systems. The first method is based on proportional plus derivative (PD) control with the PD controller gain parameters optimized via Genetic Algorithm (GA). The cost function (or performance index) to be minimized is the time taken by the system to achieve a final desired positi...
Article
The uncertainty associated with the robot dynamics for performing contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots handling a common heavy object. Simulations are performed using various trajectories...
Conference Paper
In order to control a system effectively, the system must be modeled accurately. Frequently, the non-linearities present in system dynamics make the control task difficult. Sometimes it is a real challenging task to come up with a true dynamic model of the system. To appreciate the control complexities, a Magnetic Levitation (ML) System [1] is sele...
Conference Paper
A good understanding of system dynamics is imperative to the design of any control strategy. Results of inaccurate models can lead to inefficient controls. However, the formulation of an accurate dynamic model requires high computational power and hence various simplifying assumptions are made while deriving the system equations. In order to illust...
Conference Paper
To perform complex manufacturing operations, two or more manipulators are made to work in concert. When robots work independently of other robots, small errors made (e.g., due to inaccuracies in modeling of the manipulator) by individual robots may be acceptable. However, when robots work together, then high precision is required. This calls for th...
Conference Paper
In this paper a fuzzy logic based control strategy has been applied to balance an inverted pendulum. An inverted pendulum in itself is a highly unstable system since there is always some external disturbance present that makes it to fall. Therefore, to maintain it in an upright position, a control input is needed, that could be in the form of torqu...
Conference Paper
The uncertainty associated with the robot dynamics for performing contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots handling a common heavy object. Simulations are performed using various trajectories...
Conference Paper
This paper presents the formulation and application of a genetic algorithm based strategy for the determination of an optimal trajectory for a multiple robotic configuration. First, the motivation for multiple robot control and the current state-of-art in the field of cooperating robots are briefly given. This is followed by a discussion of energy...
Article
The Army Research Office (ARO) has been supporting projects focusing on basic research in the area of smart materials and adaptive structures over recent years. A major emphasis of the ARO's Structures and Dynamics Program has been on the theoretical, computational, and experimental analysis of smart structures and structural dynamics, damping, act...
Article
This brief paper is written to provide instructions and suggestions for preparing research proposals for possible funding. Whereas the emphasis of the present document is on the funding process used by the Army Research Office (ARO), the suggestions could be utilized as a proposal preparation guide for submitting applications to many other funding...
Conference Paper
Impedance control provides a convenient framework for designing control algorithms for robotic applications that involve interaction with the environment. Passive impedance control was utilized in the early days of robotic applications, when the peg-in-hole type of tasks were performed using remote center compliance. Active impedance control using...
Conference Paper
Flexible manufacturing work cells provide excellent opportunities for enhancing both efficiency and productivity in an automated manufacturing environment. Such cells typically integrate robots, a wide variety of machine tools, material handling equipment, packaging devices, sensors, actuators, controllers, and similar other hardware. The coordinat...
Article
This paper presents the formulation and application of a genetic algorithm based strategy for the determination of an optimal trajectory for a multiple robotic configuration. First, the motivation for multiple robot control and the current state-of-art in the field of cooperating robots are briefly given. This is followed by a discussion of energy...
Article
The uncertainty associated with the robot dynamics for performing contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots handling a common heavy object. Simulations are performed using various trajectories...
Conference Paper
Recently there has been in evidence a lot of interest in intelligent machines all over the world [1–2]. Such machines have the capability to sense both expected and unexpected changes in their work environment and take appropriate actions quickly and efficiently. International Business Machines (IBM) Corporation’s Deep Blue computer [3], that playe...
Article
During the past several years, the Materials Science Division and the Mechanical and Environmental Sciences Division of the Army Research Office have been supporting projects focusing on basic resaserch in the area of smart materials and structures. The major emphasis of the ARO Structures and Dynamics Program has been on the theoretical, computati...
Article
This paper develops a method to tune fuzzy controllers using numerical optimization. The main attribute of this approach is that it allows fuzzy logic controllers to be tuned to achieve global performance requirements. Furthermore, this approach allows design constraints to be implemented during the tuning process. The method tunes the controller b...
Conference Paper
The control of nonlinear systems presents a particularly challenging problem for engineers since the dynamics of such systems is inherently complex. The principle of superposition does not hold, and the dynamic response is generally initial condition specific. In 1978, the ASME’s Dynamic Systems and Control Division had published a monograph entitl...
Article
An approach to admittance control using fuzzy-logic-based reinforcement learning is proposed for the robotic automation of typical manufacturing operations. The proposed approach provides the necessary nonlinear control actions required in a typical automated robotic manufacturing task. Simultaneously, it reduces the controller development time due...
Article
A fuzzy logic based admittance control approach is proposed for the control of robotic end-effector forces occurring during a typical automated robotic manufacturing task. The proposed admittance control approach provides the necessary nonlinear control actions required in a typical automated robotic manufacturing task, and at the same time enables...
Conference Paper
An approach to admittance control using fuzzy logic based reinforcement learning is proposed for the robotic automation of typical manufacturing operations. Use of fuzzy logic enables the knowledge of the manufacturing process operator to be incorporated into the controller design, which is then further refined using reinforcement learning techniqu...
Article
The current thrust of research in robotics is to build robots which can operate in dynamic and/or partially known environments. The ability of learning endows the robot with a form of autonomous intelligence to handle such situations. This paper focuses on the intersection of the fields of robot control and learning methods as represented by artifi...
Article
This paper will present results of applying two autonomous fuzzy controllers to a dynamically coupled system. The system consists of a space platform and a gimballed payload. The controllers are developed with the systems decoupled. Parametric studies are performed on the support limits for the error, change-in-error, and control. These parametric...
Conference Paper
Compliance inherently involves modification of the robot trajectory based on the contact forces occurring during the motion and enables the robot to perform a variety of manipulation tasks which require fine motion skills. Learning of active compliance behavior can endow a robot with some form of autonomous intelligence which can be very useful for...
Conference Paper
The traditional way to optimize robot performance has been to improvise on the control law, and the effect of the robot design on the performance remains largely unexplored. This paper presents simulations which demonstrate that the design of the robot plays an important role in its achievable performance. This suggests that if the robot design and...
Article
This paper describes the design of a neural network based labeled object identification system, to be used for product classification at the final inspection stage of an IBM personal computer manufacturing line. The objective was to design and identification system using existing equipment that would provide robust and accurate classification, as w...
Conference Paper
This paper describes the design of a labeled object classification system to be used for product classification at the final inspection stage of an IBM personal computer manufacturing line. The classification problem is broken down into pattern extraction, feature extraction, and feature classification levels. Pattern extraction and normalization a...
Article
The dynamic control of a robotic manipulator is accomplished by the computation and application of actuating torques required for the manipulator to follow desired trajectories. A considerable amount of work has been reported in the literature concerning the application of classical model-based and adaptive control techniques to the above problem....
Article
An approach to the control of cooperative dual manipulator systems using an artificial neural network based control strategy is presented. The neural network based method augments the decentralized local joint linear control of two SCARA type IBM 7540 robots and greatly improves systems performance for position-position control. In the position-pos...
Article
This paper deals with a solution of supervisory control problem for co-ordination of multiple robots. The application of two or more robots employed in a co-operating mode can increase the level of flexibility and productivity in an automated manufacturing environment. However, as the number of robots or the intricacy of task to be performed increa...
Article
The problem of camera calibration from the perspective of hand-eye integration (henceforth referred to as the Camera-Robot (CR) problem), is addressed in this paper. Mapping results obtained from a least-squares fit using pseudo-inverse technique and a three layer neural network are compared. The calibration matrix is developed to map the image coo...
Article
This paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive...
Article
The development of strategies for near time-optimal motion control of robotic manipulators is discussed. A PUMA 560 three degree-of-freedom industrial robot is used for computer simulation of algorithm. A quintic polynomial describes the trajectory of the robot end-effector traversing a specified path in Cartesian space. It is shown that a signific...
Article
The feasibility and controllability of coordinated robotic systems are considered. Against a background of cooperating robots, multiple robot control is discussed. Economic and other motivations for using coordinated robots are outlined and the difficulties encountered in the use of such schemes are identified. Several algorithms; for coordinated c...
Conference Paper
This paper deals with the stability of solutions of nonlinear control systems in the entire phase space. It is shown that for determining the global stability of motion, it is necessary to first obtain a single scalar equation from the specified system, and only then apply the Hurwitz conditions. In the derived scalar equations corresponding to the...
Conference Paper
Exact linearization of robot dynamics using nonlinear feedback requires an accurate knowledge of the robot parameters and payload. These parameters are often not known `a priori.' A Model Reference Adaptive Control system is developed for tracking the unknown or imprecisely known parameters. The values of these parameters are updated in the nonline...
Article
In this paper feedback control strategies for insertion of mating parts in automated assembly operations are presented. The question of maximum allowable misalignment before the initiation of assembly operation is studied and the effect of proportional (P), proportional plus integral (PI), and proportional plus integral plus derivative (PID) contro...
Article
Frequency response of standing humans subjected to sinusoidal vibration is presented. The vibratory input was a vertical displacement to the feet, and the output was the corresponding vertical response of the head. Twelve subjects (eight male and four female) were tested in the frequency range of 1-50 Hertz (Hz) with small input amplitudes (0.003 t...
Article
Absolute stability of non-linear systems is examined using the conventional techniques, and a representation of Popov line in the logarithmic gain and phase versus frequency plane. A grapho-analytical procedure is advanced for the Popov line transference to the Bode plane. The technique may be used either as an analytical tool for investigating abs...
Article
In order to obtain student feedback in computer programing courses at Duke University, a computer-based anonymous audience response system was used. This system consisted of a minicomputer, voting consoles, and a large electronic display. Students set their voting consoles in response to the question and the minicomputer interrogated the consoles....
Article
This paper discusses the importance of technological forecasting as a planning and decision making tool. The basic Delphi methodology is briefly described and its variations summarized. Outline of an experiment conducted with Delphi in a classroom environment is given and its results discussed.
Article
The needs and objectives of a societal systems curriculum in engineering education is discussed. Basic concepts in technology assessment are explicated and the organization ofan undergraduate course in technology assessment and social choice is portrayed. Desirable characteristics in the format of similar courses are described and recommendations a...
Article
In this paper several dynamical models of fluid suspensions for tracked air cushion vehicles are analyzed and compared. Specifically, the models considered conform to: a fifth-order linear suspension, a nonlinear configuration with a constant supply pressure, a nonlinear model with compressor characteristics, and a sixth-order nonlinear model with...
Article
A generalized method for the limit cycle analysis of a class of nth-order systems is proposed. The method utilizes describing function technique and is applicable to dynamical systems with both memoryless and with memory non-linearities. The critical gain for self-sustained oscillations is found without explicitly solving the system characteristic...

Citations

... Disregarding the disturbance and uncertainty effects may cause problems in the control capabilities for most of the proposed methods. The passive, robust, adaptive and adaptive variable structure controllers which are designed to overcome uncertainties in the presence of disturbance have been recently used for control of manipulators and can also be utilized for cooperating robot arms [5] [6] [7] [8] [9] [10] [11] [12] [13] [14]. ...
... Recently, Mata et al [15] have proposed a vision based landmark recognition system for use with mobile robot navigation task. They have presented a search algorithm based on genetic techniques [16] for pattern recognition in digital images. The developed system allows topological localization of the mobile robot using natural and artificial landmarks. ...
... A lot of research has been carried out for coordinating position, motion, and grasping force for multi-manipulator systems acting in synchronization123. A number of control strategies, such as fuzzy logic456, neural networks78910, general redundancy optimization method, and two level hierarchical fuzzy logic for hyperredundant cooperating robots have been published in technical literature. ...
... Disregarding the disturbance and uncertainty effects may cause problems in the control capabilities for most of the proposed methods. The passive, robust, adaptive and adaptive variable structure controllers which are designed to overcome uncertainties in the presence of disturbance have been recently used for control of manipulators and can also be utilized for cooperating robot arms [5][6][7][8][9][10][11][12][13][14]. In this paper, the equations for kinematics and dynamics of a dual-arm system while manipulating a common rigid payload, grasped clamped-clamped, are obtained. ...
... The coordinated control law for a multi-robot system performing part-mating tasks includes motion and internal force control and a load distribution method, [5]. There have been a number of proposed model-based control schemes to overcome the effects of uncertainties in the dynamic models of cooperating robotic systems [6, 7]. Also in [8]–[10], control schemes which do not take into account the dynamics of the object but rather the motion constraints are suggested. ...