Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system

Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system

In this paper, the problem concerning how to coordinate the movement of an autonomous underwater vehicle-manipulator system (UVMS) is investigated. It is proposed an algorithm based in fuzzy logic that generates a desired trajectory for the vehicle taking into account three control objectives: the e...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: dos Santos, Carlos Henrique, Bittencourt, Guilherme, Guenther, Raul, De Pieri, Edson
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Electromagnetic forces
Force control
Hybrid intelligent systems
Laboratories
Magnetic levitation
Neural networks
Stators
Testing
Thermal pollution
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 2847
container_issue
container_start_page 2842
container_title
container_volume
creator dos Santos, Carlos Henrique
Bittencourt, Guilherme
Guenther, Raul
De Pieri, Edson
description In this paper, the problem concerning how to coordinate the movement of an autonomous underwater vehicle-manipulator system (UVMS) is investigated. It is proposed an algorithm based in fuzzy logic that generates a desired trajectory for the vehicle taking into account three control objectives: the energy savings, the increase of system manipulability and utilization of all degrees of freedom (dof) when necessary. In this last, a particular rule disposition to distribute all dof's involved in task space is used. The simulation results demonstrate the efficiency of this approach.
doi_str_mv 10.1109/CACSD-CCA-ISIC.2006.4777089
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_4777089</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>4777089</ieee_id><sourcerecordid>4777089</sourcerecordid><originalsourceid>FETCH-ieee_primary_47770893</originalsourceid><addsrcrecordid>eNp9jz1vwjAYhN2KSiDIL-hiqbNTOwYcj8hQlbUwMCAhC95QV4kT-QMIv54MEWNPJ93pnukQ-mA0ZYzKT7VQmyVRakHWm7VKM0rn6VQIQXP5ghIpctqZSyFF9opGGZvPCKfZbvDsjA1R4v0f7cQlz2dshPY_cIr2pO2xxQ58XcZgaouL2uFuBnfVARy-wK85lkAqbU0TSx067FsfoPI4emPPWOMi3u8thlsDLvRwgt4KXXpI-hyj96_VVn0TAwCHxplKu_bQf-D_0wftYEwK</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>dos Santos, Carlos Henrique ; Bittencourt, Guilherme ; Guenther, Raul ; De Pieri, Edson</creator><creatorcontrib>dos Santos, Carlos Henrique ; Bittencourt, Guilherme ; Guenther, Raul ; De Pieri, Edson</creatorcontrib><description>In this paper, the problem concerning how to coordinate the movement of an autonomous underwater vehicle-manipulator system (UVMS) is investigated. It is proposed an algorithm based in fuzzy logic that generates a desired trajectory for the vehicle taking into account three control objectives: the energy savings, the increase of system manipulability and utilization of all degrees of freedom (dof) when necessary. In this last, a particular rule disposition to distribute all dof's involved in task space is used. The simulation results demonstrate the efficiency of this approach.</description><identifier>ISSN: 2165-3011</identifier><identifier>EISSN: 2165-302X</identifier><identifier>EISBN: 9780780397972</identifier><identifier>EISBN: 0780397975</identifier><identifier>DOI: 10.1109/CACSD-CCA-ISIC.2006.4777089</identifier><language>eng</language><publisher>IEEE</publisher><subject>Control systems ; Electromagnetic forces ; Force control ; Hybrid intelligent systems ; Laboratories ; Magnetic levitation ; Neural networks ; Stators ; Testing ; Thermal pollution</subject><ispartof>2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006, p.2842-2847</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4777089$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,27924,54919</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4777089$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>dos Santos, Carlos Henrique</creatorcontrib><creatorcontrib>Bittencourt, Guilherme</creatorcontrib><creatorcontrib>Guenther, Raul</creatorcontrib><creatorcontrib>De Pieri, Edson</creatorcontrib><title>Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system</title><title>2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control</title><addtitle>CACSD-CCA-ISIC</addtitle><description>In this paper, the problem concerning how to coordinate the movement of an autonomous underwater vehicle-manipulator system (UVMS) is investigated. It is proposed an algorithm based in fuzzy logic that generates a desired trajectory for the vehicle taking into account three control objectives: the energy savings, the increase of system manipulability and utilization of all degrees of freedom (dof) when necessary. In this last, a particular rule disposition to distribute all dof's involved in task space is used. The simulation results demonstrate the efficiency of this approach.</description><subject>Control systems</subject><subject>Electromagnetic forces</subject><subject>Force control</subject><subject>Hybrid intelligent systems</subject><subject>Laboratories</subject><subject>Magnetic levitation</subject><subject>Neural networks</subject><subject>Stators</subject><subject>Testing</subject><subject>Thermal pollution</subject><issn>2165-3011</issn><issn>2165-302X</issn><isbn>9780780397972</isbn><isbn>0780397975</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp9jz1vwjAYhN2KSiDIL-hiqbNTOwYcj8hQlbUwMCAhC95QV4kT-QMIv54MEWNPJ93pnukQ-mA0ZYzKT7VQmyVRakHWm7VKM0rn6VQIQXP5ghIpctqZSyFF9opGGZvPCKfZbvDsjA1R4v0f7cQlz2dshPY_cIr2pO2xxQ58XcZgaouL2uFuBnfVARy-wK85lkAqbU0TSx067FsfoPI4emPPWOMi3u8thlsDLvRwgt4KXXpI-hyj96_VVn0TAwCHxplKu_bQf-D_0wftYEwK</recordid><startdate>200610</startdate><enddate>200610</enddate><creator>dos Santos, Carlos Henrique</creator><creator>Bittencourt, Guilherme</creator><creator>Guenther, Raul</creator><creator>De Pieri, Edson</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200610</creationdate><title>Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system</title><author>dos Santos, Carlos Henrique ; Bittencourt, Guilherme ; Guenther, Raul ; De Pieri, Edson</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_47770893</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Control systems</topic><topic>Electromagnetic forces</topic><topic>Force control</topic><topic>Hybrid intelligent systems</topic><topic>Laboratories</topic><topic>Magnetic levitation</topic><topic>Neural networks</topic><topic>Stators</topic><topic>Testing</topic><topic>Thermal pollution</topic><toplevel>online_resources</toplevel><creatorcontrib>dos Santos, Carlos Henrique</creatorcontrib><creatorcontrib>Bittencourt, Guilherme</creatorcontrib><creatorcontrib>Guenther, Raul</creatorcontrib><creatorcontrib>De Pieri, Edson</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>dos Santos, Carlos Henrique</au><au>Bittencourt, Guilherme</au><au>Guenther, Raul</au><au>De Pieri, Edson</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system</atitle><btitle>2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control</btitle><stitle>CACSD-CCA-ISIC</stitle><date>2006-10</date><risdate>2006</risdate><spage>2842</spage><epage>2847</epage><pages>2842-2847</pages><issn>2165-3011</issn><eissn>2165-302X</eissn><eisbn>9780780397972</eisbn><eisbn>0780397975</eisbn><abstract>In this paper, the problem concerning how to coordinate the movement of an autonomous underwater vehicle-manipulator system (UVMS) is investigated. It is proposed an algorithm based in fuzzy logic that generates a desired trajectory for the vehicle taking into account three control objectives: the energy savings, the increase of system manipulability and utilization of all degrees of freedom (dof) when necessary. In this last, a particular rule disposition to distribute all dof's involved in task space is used. The simulation results demonstrate the efficiency of this approach.</abstract><pub>IEEE</pub><doi>10.1109/CACSD-CCA-ISIC.2006.4777089</doi></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2165-3011
ispartof 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006, p.2842-2847
issn 2165-3011
2165-302X
language eng
recordid cdi_ieee_primary_4777089
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Control systems
Electromagnetic forces
Force control
Hybrid intelligent systems
Laboratories
Magnetic levitation
Neural networks
Stators
Testing
Thermal pollution
title Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-13T07%3A46%3A39IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Redundancy%20resolution%20for%20underwater%20vehicle-manipulator%20systems%20using%20a%20fuzzy%20expert%20system&rft.btitle=2006%20IEEE%20Conference%20on%20Computer%20Aided%20Control%20System%20Design,%202006%20IEEE%20International%20Conference%20on%20Control%20Applications,%202006%20IEEE%20International%20Symposium%20on%20Intelligent%20Control&rft.au=dos%20Santos,%20Carlos%20Henrique&rft.date=2006-10&rft.spage=2842&rft.epage=2847&rft.pages=2842-2847&rft.issn=2165-3011&rft.eissn=2165-302X&rft_id=info:doi/10.1109/CACSD-CCA-ISIC.2006.4777089&rft_dat=%3Cieee_6IE%3E4777089%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9780780397972&rft.eisbn_list=0780397975&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=4777089&rfr_iscdi=true