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Kadmiry, Bourhane
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Palm, R., Iliev, B. & Kadmiry, B. (2010). Grasp recognition by fuzzy modeling and hidden Markov models. In: Honghai Liu, Dongbing Gu, Robert J. Howlett, Yonghuai Liu (Ed.), Robot intelligence: an advanced knowledge processing approach (pp. 25-47). New York: Springer
Öppna denna publikation i ny flik eller fönster >>Grasp recognition by fuzzy modeling and hidden Markov models
2010 (Engelska)Ingår i: Robot intelligence: an advanced knowledge processing approach / [ed] Honghai Liu, Dongbing Gu, Robert J. Howlett, Yonghuai Liu, New York: Springer , 2010, s. 25-47Kapitel i bok, del av antologi (Övrigt vetenskapligt)
Abstract [en]

Grasp recognition is a major part of the approach for Programming-by-Demonstration (PbD) for five-fingered robotic hands. This chapter describes three different methods for grasp recognition for a human hand. A human operator wearing a data glove instructs the robot to perform different grasps. For a number of human grasps the finger joint angle trajectories are recorded and modeled by fuzzy clustering and Takagi-Sugeno modeling. This leads to grasp models using time as input parameter and joint angles as outputs. Given a test grasp by the human operator the robot classifies and recognizes the grasp and generates the corresponding robot grasp. Three methods for grasp recognition are compared with each other. In the first method, the test grasp is compared with model grasps using the difference between the model outputs. The second method deals with qualitative fuzzy models which used for recognition and classification. The third method is based on Hidden-Markov-Models (HMM) which are commonly used in robot learning.

Ort, förlag, år, upplaga, sidor
New York: Springer, 2010
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
urn:nbn:se:oru:diva-14336 (URN)10.1007/978-1-84996-329-9_2 (DOI)978-1-84996-328-2 (ISBN)
Tillgänglig från: 2011-01-27 Skapad: 2011-01-27 Senast uppdaterad: 2017-10-18Bibliografiskt granskad
Palm, R., Kadmiry, B., Iliev, B. & Driankov, D. (2009). Recognition and teaching of robot skills by fuzzy time-modeling. In: J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa (Ed.), J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa (Ed.), Proceedings of the Joint 2009 international fuzzy systems association world congress and 2009 European society of fuzzy logic and technology conference: . Paper presented at Joint International-Fuzzy-Systems-Association World Congress/European-Society-Fuzzy-Logic-and-Technology Conference, Lisbon, Portugal, Jul 20-24 (pp. 7-12). Linz, Austria: Johannes Kepler university
Öppna denna publikation i ny flik eller fönster >>Recognition and teaching of robot skills by fuzzy time-modeling
2009 (Engelska)Ingår i: Proceedings of the Joint 2009 international fuzzy systems association world congress and 2009 European society of fuzzy logic and technology conference / [ed] J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa, Linz, Austria: Johannes Kepler university , 2009, s. 7-12Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

Robot skills are low-level motion and/or grasping capabilities that constitute the basic building blocks from which tasks are built. Teaching and recognition of such skills can be done by Programming-by-Demonstration approach. A human operator demonstrates certain skills while his motions are recorded by a data-capturing device and modeled in our case via fuzzy clustering and Takagi-Sugeno modeling technique. The resulting skill models use the time as input and the operator's actions and reactions as outputs. Given a test skill by the human operator the robot control system recognizes the individual phases of skills and generates the type of skill shown by the operator.

Ort, förlag, år, upplaga, sidor
Linz, Austria: Johannes Kepler university, 2009
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
urn:nbn:se:oru:diva-19378 (URN)000279170600002 ()2-s2.0-80053645996 (Scopus ID)978-989-95079-6-8 (ISBN)
Konferens
Joint International-Fuzzy-Systems-Association World Congress/European-Society-Fuzzy-Logic-and-Technology Conference, Lisbon, Portugal, Jul 20-24
Tillgänglig från: 2011-10-04 Skapad: 2011-10-04 Senast uppdaterad: 2017-10-18Bibliografiskt granskad
Palm, R., Iliev, B. & Kadmiry, B. (2009). Recognition of human grasps by time-clustering and fuzzy modeling. Robotics and Autonomous Systems, 57(5), 484-495
Öppna denna publikation i ny flik eller fönster >>Recognition of human grasps by time-clustering and fuzzy modeling
2009 (Engelska)Ingår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 57, nr 5, s. 484-495Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

In this paper we address the problem of recognition of human grasps for five-fingeredrobotic hands and industrial robots in the context of programming-by-demonstration. The robot isinstructed by a human operator wearing a data glove capturing the hand poses. For a number ofhuman grasps, the corresponding fingertip trajectories are modeled in time and space by fuzzyclustering and Takagi-Sugeno (TS) modeling. This so-called time-clustering leads to grasp modelsusing time as input parameter and fingertip positions as outputs. For a sequence of grasps thecontrol system of the robot hand identifies the grasp segments, classifies the grasps andgenerates the sequence of grasps shown before. For this purpose, each grasp is correlated with atraining sequence. By means of a hybrid fuzzy model the demonstrated grasp sequence can bereconstructed.

Ort, förlag, år, upplaga, sidor
Amsterdam: Elsevier, 2009
Nyckelord
grasp recognition, programming-by-demonstration, fuzzy clustering, fuzzy modeling
Nationell ämneskategori
Reglerteknik Datavetenskap (datalogi)
Forskningsämne
Datalogi
Identifikatorer
urn:nbn:se:oru:diva-8421 (URN)10.1016/j.robot.2008.10.012 (DOI)000266122800002 ()2-s2.0-63149177143 (Scopus ID)
Tillgänglig från: 2009-11-02 Skapad: 2009-11-02 Senast uppdaterad: 2018-01-12Bibliografiskt granskad
Iliev, B., Kadmiry, B. & Palm, R. (2007). Interpretation of human demonstrations using mirror neuron system principles. In: IEEE 6th international conference on development and learning, ICDL 2007. Paper presented at IEEE 6th international conference on development and learning, ICDL 2007, 11-13 July, London (pp. 128-133). New York: IEEE
Öppna denna publikation i ny flik eller fönster >>Interpretation of human demonstrations using mirror neuron system principles
2007 (Engelska)Ingår i: IEEE 6th international conference on development and learning, ICDL 2007, New York: IEEE , 2007, s. 128-133Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this article we suggest a framework for programming by demonstration of robotic grasping based on principles of the Mirror Neuron System (MNS) model. The approach uses a hand-state representation inspired by neurophysiological models of human grasping. We show that such a representation not only simplifies the grasp recognition but also preserves the essential part of the reaching motion associated with the grasp. We show that if the hand state trajectory of a demonstration can be reconstructed, the robot is able to replicate the grasp. This can be done using motion primitives, derived by fuzzy time-clustering from the demonstrated reach-and grasp motions. To illustrate the approach we show how human demonstrations of cylindrical grasps can be modeled, interpreted and replicated by a robot in this framework.

Ort, förlag, år, upplaga, sidor
New York: IEEE, 2007
Nationell ämneskategori
Teknik och teknologier Data- och informationsvetenskap
Forskningsämne
Data- och systemvetenskap
Identifikatorer
urn:nbn:se:oru:diva-4546 (URN)10.1109/DEVLRN.2007.4354036 (DOI)978-1-4244-1116-0 (ISBN)
Konferens
IEEE 6th international conference on development and learning, ICDL 2007, 11-13 July, London
Tillgänglig från: 2008-04-16 Skapad: 2008-04-16 Senast uppdaterad: 2018-01-13Bibliografiskt granskad
Skoglund, A., Iliev, B., Kadmiry, B. & Palm, R. (2007). Programming by demonstration of pick-and-place tasks for industrial manipulators using task primitives. In: International symposium on computational intelligence in robotics and automation, CIRA 2007. Paper presented at International symposium on computational intelligence in robotics and automation, CIRA 2007, 20 - 23 June, Jacksonville, Fl (pp. 368-373). New York: IEEE
Öppna denna publikation i ny flik eller fönster >>Programming by demonstration of pick-and-place tasks for industrial manipulators using task primitives
2007 (Engelska)Ingår i: International symposium on computational intelligence in robotics and automation, CIRA 2007, New York: IEEE , 2007, s. 368-373Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This article presents an approach to Programming by Demonstration (PbD) to simplify programming of industrial manipulators. By using a set of task primitives for a known task type, the demonstration is interpreted and a manipulator program is automatically generated. A pick-and-place task is analyzed, based on the velocity profile, and decomposed in task primitives. Task primitives are basic actions of the robot/gripper, which can be executed in a sequence to form a complete a task. For modeling and generation of the demonstrated trajectory, fuzzy time clustering is used, resulting in smooth and accurate motions. To illustrate our approach, we carried out our experiments on a real industrial manipulator.

Ort, förlag, år, upplaga, sidor
New York: IEEE, 2007
Nationell ämneskategori
Teknik och teknologier Data- och informationsvetenskap
Forskningsämne
Data- och systemvetenskap
Identifikatorer
urn:nbn:se:oru:diva-4086 (URN)10.1109/CIRA.2007.382863 (DOI)1-4244-0790-7 (ISBN)
Konferens
International symposium on computational intelligence in robotics and automation, CIRA 2007, 20 - 23 June, Jacksonville, Fl
Tillgänglig från: 2007-11-01 Skapad: 2007-11-01 Senast uppdaterad: 2018-01-13Bibliografiskt granskad
Kadmiry, B. & Driankov, D. (2004). A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control. Fuzzy sets and systems (Print), 146(3), 313-347
Öppna denna publikation i ny flik eller fönster >>A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
2004 (Engelska)Ingår i: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, nr 3, s. 313-347Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

Ort, förlag, år, upplaga, sidor
Elsevier, 2004
Nyckelord
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, linguistic modelling and control
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
urn:nbn:se:oru:diva-42489 (URN)10.1016/j.fss.2003.07.002 (DOI)2480 (Lokalt ID)2480 (Arkivnummer)2480 (OAI)
Tillgänglig från: 2009-10-07 Skapad: 2015-02-06 Senast uppdaterad: 2018-01-11Bibliografiskt granskad
Kadmiry, B. & Driankov, D. (2004). Takagi-Sugeno fuzzy gain scheduling with sampling-time uncertainties. In: Proceedings 2004 IEEE International Conference on Fuzzy Systems: . Paper presented at 2004 IEEE International Conference on Fuzzy Systems, Budapest, Hungary, July 25-29, 2004 (pp. 1087-1091). New York, USA: IEEE conference proceedings, 2
Öppna denna publikation i ny flik eller fönster >>Takagi-Sugeno fuzzy gain scheduling with sampling-time uncertainties
2004 (Engelska)Ingår i: Proceedings 2004 IEEE International Conference on Fuzzy Systems, New York, USA: IEEE conference proceedings, 2004, Vol. 2, s. 1087-1091Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a robust controller design method is proposed. The sufficient conditions and the design procedure are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated of a visual-servoing control problem.

Ort, förlag, år, upplaga, sidor
New York, USA: IEEE conference proceedings, 2004
Serie
IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), ISSN 1098-7584 ; 2
Nationell ämneskategori
Teknik och teknologier Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
urn:nbn:se:oru:diva-38973 (URN)10.1109/FUZZY.2004.1375561 (DOI)000224959100189 ()2-s2.0-11144317954 (Scopus ID)0-7803-7293-X (ISBN)
Konferens
2004 IEEE International Conference on Fuzzy Systems, Budapest, Hungary, July 25-29, 2004
Forskningsfinansiär
KK-stiftelsen
Tillgänglig från: 2014-11-25 Skapad: 2014-11-25 Senast uppdaterad: 2017-10-18Bibliografiskt granskad
Kadmiry, B., Bergsten, P. & Driankov, D. (2001). Autonomous Helicopter Control Using Fuzzy-Gain Scheduling. In: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA): (pp. 2980-2985). IEEE conference proceedings
Öppna denna publikation i ny flik eller fönster >>Autonomous Helicopter Control Using Fuzzy-Gain Scheduling
2001 (Engelska)Ingår i: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA), IEEE conference proceedings , 2001, s. 2980-2985Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The work reported in the paper is aimed at achieving aggressive manoeuvrability for an unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The manoeuvrability problem is treated at the level of attitude (pitch, roll, yaw) and the aim is to achieve stabilization of the attitude angles within much larger ranges than currently available. We present a fuzzy gain scheduling control approach based on two different types of Iinearization of the original nonlinear APID MK-III model. The performance of the fuzzy gain scheduled controllers is evaluated in simulation and shows that they are effective means for achieving the desired robust manoeuvrability.

Ort, förlag, år, upplaga, sidor
IEEE conference proceedings, 2001
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:oru:diva-42486 (URN)10.1109/ROBOT.2001.933074 (DOI)0-7803-6576-3 (ISBN)
Tillgänglig från: 2010-10-04 Skapad: 2015-02-06 Senast uppdaterad: 2017-10-18Bibliografiskt granskad
Kadmiry, B., Palm, R. & Driankov, D. (2001). Autonomous Helicopter Control Using Gradient Descent Optimization Method. In: Proceedings of the Asian Conference on Robotic & Automation (ACRA): .
Öppna denna publikation i ny flik eller fönster >>Autonomous Helicopter Control Using Gradient Descent Optimization Method
2001 (Engelska)Ingår i: Proceedings of the Asian Conference on Robotic & Automation (ACRA), 2001Konferensbidrag, Publicerat paper (Refereegranskat)
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:oru:diva-42491 (URN)
Tillgänglig från: 2010-10-04 Skapad: 2015-02-06 Senast uppdaterad: 2017-10-18Bibliografiskt granskad
Kadmiry, B. & Driankov, D. (2001). Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control. In: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC): (pp. 348-352).
Öppna denna publikation i ny flik eller fönster >>Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control
2001 (Engelska)Ingår i: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC), 2001, s. 348-352Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The paper presents the design of a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. The controller is able of regulating high horizontal velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: 1) a Mamdani-type of a fuzzy rules are used to compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; and 2) using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According to our knowledge this is the first time when a combination of linguistic and model-based fuzzy control is used for the control of a complicated plant such as an autonomous helicopter. The performance of the combined linguistic/model-based controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose

Nyckelord
aircraft control, attitude control, fuzzy control, helicopters, nonlinear systems, velocity control
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:oru:diva-42488 (URN)10.1109/ISIC.2001.971534 (DOI)0-7803-6722-7 (ISBN)
Tillgänglig från: 2010-10-04 Skapad: 2015-02-06 Senast uppdaterad: 2017-10-18Bibliografiskt granskad
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