Smart Electromechanical Systems: Behavioral Decision Making

✍ Scribed by Andrey E. Gorodetskiy, Irina L. Tarasova

• Publisher: Springer
• Year: 2021
• Tongue: English
• Leaves: 239
• Series: Studies in Systems, Decision and Control
• Edition: 1
• Category: Library

✦ Synopsis

This book presents the latest achievements of Russian scientists in the field of theory and practice of decision-making in SEMS, taking into account the information received from the sensors of its central nervous system (CNS). Recently, in the field of theory and practice of intelligent robotics systems management, the solution to the problem of SEMS type urgent task of making decisions about their expedient behavior is based on the integration of the processes of obtaining, processing and storing information, computing, control and monitoring. This enables the efficiency, reliability and safety of operation of SEMS in real time.

 

Decision-making methods are described, both in the autonomous behavior of SEMS and in their group interaction, based on the principles of bionics, adaptability, intelligence and parallelism in information processing and computation.

 

This book is intended for students, scientists and engineers specializing in the field of smart electromechanical systems and robotics.

✦ Table of Contents

Preface
Contents
Methods and Principles of Designing of Decision Making System of the SEMS
Logical and Mathematical Method of Making Behavioral Decisions
1 Introduction
2 Stages of the Formation of Behavioral Decisions
3 Fuzzification Data and Forming Images
4 The Adoption of Reflective Solutions
5 Informed Decision Making
6 Conclusion
References
Patterns in Intelligent Control Systems for Robotic Systems
1 Introduction
2 Requirements for the Autonomy and Intelligence of Combat Cyber-Physical Systems
3 Initial Assumptions and Hypotheses
4 The Model of a Behavioral Pattern Fuzzy Description
5 A Model for Choosing an Agent When Implementing a Pattern
6 Modeling Patterns. Basic Modeling Points
7 Conclusion
References
Using Binary Relationships in Decision Making
1 Introduction
2 The Tasks of Situational Control of a Group of Dynamic Objects
3 Generalized Description of the Task of Situational Control of the SEMS Group
4 Mathematical Methods for Using Binary Relations in Decision
5 Conclusion
References
Decision-Making by the Autonomous Symbiotic Self-Relocating Massage Robot “Triangel” Based on SEMS After the Fall of Patient on Surface
1 Introduction
2 Description of Symbiotic Robot “Triangel” and Main Types of Possible Fallings of Patient During Massage
2.1 Description of Symbiotic Robot “Triangel”
2.2 Description of Main Types of Possible Fallings of Patient to Surface
2.3 Description of Main Types of Possible Falling of Patient to Stairs of Staircases
3 Decision-Making by the Autonomous Symbiotic Self-relocating Massage Robot “Triangel” After the Falling of Patient on Surface
3.1 The Axiomatics of the Decision-Making Model
3.2 Algorithm for Decision-Making by the Symbiotic Massage Robot “Triangel” After the Patient Falls to the Surface
4 Conclusions
References
Decision-Making by the Autonomous Symbiotic Self-Relocating Massage Robot “Octahedral Dodekapod” Based on SEMS During the Upper or Lower Limb Massage
1 Introduction
2 Description of Symbiotic Robot “Octahedral Dodekapod” and Main Types of Possible Fallings of Patient During Massage
2.1 Description of Symbiotic Robot “Octahedral Dodekapod”
2.2 Description of Main Types of Possible Fallings of Patient to Surface
2.3 Description of Main Types of Possible Falling of Patient to Stairs of Staircases
3 Decision-Making by the Autonomous Symbiotic Self-Relocating Massage Robot “Octahedral Dodekapod” After the Falling of Patient on Surface
4 Conclusions
References
Methods and Principles of Designing of Decision Making System of the SEMS Group
Problems with Secure Control of SEMS Group
1 Introduction
2 The Principles of Safe Control
3 Managing the Safe Movement of the Group Through the Intersection, Taking into Account the Rules of Passage
4 Managing the Group’s Safe Movement Based on Priorities
5 Conclusion
References
Synthesis of Optimal Program Control for Synchronizing the Movements of a Group of SEMS Modules
1 Introduction
2 Statement of the Problem of Optimal Control Synthesis for a Mechanism Consisting of SEMS Modules
3 The Problem of Synthesizing the Trajectory of the SEMS Module by the Planner in Layer 3
4 Motion Trajectory Synthesis Using Gradient Optimization Methods
5 Trajectory Synthesis Using the Multidimensional Patchwork Shell Method (MPSM)
6 Synthesis of a Trajectory Using a Method Based on the Construction of the Boundaries of the Region of Feasible Solutions
7 Conclusions
References
Task Scheduling Within Robots’ Collectives of Arbitrary Structures
1 Introduction
2 NCSs: Features, Legends and Our Proposals
3 SA for Groups of Robots
4 Conclusion
References
Meta-Heuristic Algorithm for Decentralized Control of a Robots Group to Search for the Maximum of an Unknown Scalar Physical Field
1 Introduction
2 Problem Statement and Basic Definitions
3 General Scheme and Main RGDC Algorithm Procedures
4 Software Implementation and Computational Experiment
5 Conclusion
References
Position Control of UGV Group for COVID (Virus SARS-CoV-2COVID) Localization and Primary Treatment Within Indoor Environment
1 Introduction
2 Problem Statement
3 Mathematical Model for Robot Moving in Group
4 Software for Robots
5 Adaptation of Existing Service Robots’ Prototypes Towards COVID-Situation Activities
6 Conclusions
References
Mathematical and Computer Modeling of the Decision Making System
Using Diagrams Influence in Group Control SEMS
1 Introduction
2 Statement of the Control Problem
3 Options for Using Influence Diagrams When Making a Decision
4 Features of the Search for the Optimal Decision in Various Variants of Situational Control Structures
5 Conclusion
References
Models for Decision Making Support Systems in Robotics
1 Introduction
2 Forecasting Model
3 Adaptive Control Model
4 Conclusions
References
Coalition Game Model of FANET Grouping Control Based on the Method of Local Threats and Counter-Threats and Swarm-Leader Model
1 Introduction
2 Statement of the Problem of a FANET-System Coordinating Control Optimization
2.1 Coalition Structure
2.2 A Group Dynamics Model
2.3 A Vector Efficiency Indicator
3 General View of Waisbord—Zhukovsky Sufficient LTCT-Optimality Conditions
4 Modified Sufficient Conditions for LTCT
5 Optimization Method
6 Conclusion
References
Robotic Wheelchair Control System for Multimodal Interfaces Based on a Symbolic Model of the World
1 Introduction
2 Basic Architecture of the System
2.1 Representation of Semantic Map
2.2 Low-Level Components
2.3 Sensory Subsystem
2.4 Types of User Interfaces
2.5 Manipulator
3 Testing
4 Results and Discussion
5 Conclusion
References
Methods and Principles of Information Processing
Classification of Images in Decision Making in the Central Nervous System of SEMS
1 Introduction
2 Statement of the Problem of Inductive Formation of Images
3 Algorithms for the Formation of Decision Rules
4 Logical-Probabilistic and Logical-Linguistic Algorithms
5 Testing Algorithms
6 Conclusion
References
Image Classification System in the SEMS Selection Environment
1 Introduction
2 The Block Diagram of the System
3 The Principle of Operation of the System
4 Conclusion
References
Principles of Forming the Language of Sensation for Decision Making in the Central Nervous System of SEMS
1 Introduction
2 Algorithm of Formation of the Language of Sensations of the Robot
2.1 Quantization of the Surrounding Space
2.2 Fuzzification of Sensory Information
2.3 Image Formation in the Display of the Surrounding Space
2.4 Formation of Images by Combining Images from Different Senses
3 Conclusion
References
Generation of Control Commands in the Group SEMS with Multi-Channel Optic-Electronic Sensors
1 Introduction
2 Specific Features of the Commands Generation to Control the System for Shape Adaptation of the Radio Telescope’s Composite Mirror Using a Multi-Channel Optic-Electronic Sensor
2.1 Structure of the Robotic System for Aligning the Position of the Composite Mirror Parts in the Millimetron Radio Telescope
2.2 Diagram of the Multi-Channel Optic-Electronic Sensor for the Head Hexapod
2.3 Sequence of the Control Command Generation Using Optic and Electronic Multi-Channel Sensor
3 Computer Models for the Control Commands Generation
3.1 Coordinate Systems Which Determine the Position of Sensor Components
3.2 Calculating the Image Coordinates of the Radiation Mark on the Receiver
3.3 General Algorithm for Modelling the Optic-Electronic Multi-Channel Sensor
3.4 Calculating the Required Quantity of Referent Radiation Marks for Accurate Determination of the Base Unit’s Shift
3.5 Calculating the Required Quantity of Radiation Marks for Accurate Determination of the Reflecting Lobe’s Position
4 Conclusion
References
Increasing the Reliability of Decision Making by Improving the Characteristics of Optoelectronic Channels Ensuring the Separation of Complex Shape Fruit
1 Introduction
2 Generalized OCSS of Complex-Shape Fruits
3 Specificity of Receiving and Processing Information in OCSS
3.1 Images Pre-processing in OCSS
3.2 Features Extraction
3.3 Fruit Quality Classification
4 Application of Interframe Difference Algorithm in OCSS
5 Conclusion
References