Mo#va#on' Goal:' Improve(Autonomous(Robot(Control( - - PowerPoint PPT Presentation

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Mo#va#on' Goal:' Improve(Autonomous(Robot(Control( - - PowerPoint PPT Presentation

Apr 12, 2023 201 likes •575 views

Mo#va#on' Goal:' Improve(Autonomous(Robot(Control( Evolve'adap#ve'control:' changes'to'a'control'signal' changes'in'the'environment' changes'in'dynamics'(morphology)' Not'behaviors'

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SLIDE 1

Mo#va#on'

Goal:'Improve(Autonomous(Robot(Control(

  • Evolve'adap#ve'control:'

– changes'to'a'control'signal' – changes'in'the'environment' – changes'in'dynamics'(morphology)'

  • Not'behaviors'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

1'

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SLIDE 2

Mo#va#on':'Robo#c'Fish'

Industrial+ Biological+

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

2'

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SLIDE 3

Outline'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

3'

Robo#c' Fish'Design' Adap#ve' Control' Velocity' Study' Flow'Tank' Applica#on' Future' Work'

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SLIDE 4

Small'Robo#c'Fish'

  • S#ckleback'size'

– robot ':'7'cm' – real' ':'4'to'6'cm'

  • Electrical'components'

– 32Wbit'ARM'μWcontroller' – 3Waxis'accelerometer' – 3Waxis'gyroscope' – 2'light'sensors' – 2.4'GHz'wireless' – magne#c'motor' – 1'hour'ba[ery'life' – NOT'tethered'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

4'

REPLACE'PICTURE'

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SLIDE 5

Design'Process'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

5'

Robot+Prototype+

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SLIDE 6

Design'Process'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

6'

Dynamic+Modeling+ Robot'Prototype' [Wang'2012,'Clark'2012]'

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SLIDE 7

Design'Process'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

7'

Dynamic'Modeling' Parameter+Iden<fica<on+ Robot'Prototype'

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SLIDE 8

Design'Process'

Control'System'

– r ':'desired'system'output' – y':'actual'system'output' – e':'system'output'error' – u':'control'signal'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

8'

Dynamic'Modeling' Control+Design+ Parameter'Iden#fica#on' Robot'Prototype' Controller' System'

r' e' u' y'

+' _'

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SLIDE 9

Design'Process'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

9'

Dynamic'Modeling' Simula<on+ Control'Design' Parameter'Iden#fica#on' Robot'Prototype' [Clark'2013]'

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SLIDE 10

Design'Process'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

10'

Dynamic'Modeling' Simula#on' Control'Design' Parameter'Iden#fica#on' Robot'Prototype' Physical+Experiments+

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SLIDE 11

Design'Process'

Repeat'to'refine'

– reduce'modeling'error' – improve'parameter' es#mates' – model'noisy'sensors'

Repeat'for'new'robot'

– different'parameters' – different'sensors'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

11'

Dynamic'Modeling' Simula#on' Control'Design' Parameter'Iden#fica#on' Robot'Prototype' Physical'Experiments'

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SLIDE 12

Outline'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

12'

Robo#c' Fish'Design' Adap#ve' Control' Velocity' Study' Flow'Tank' Applica#on' Future' Work'

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SLIDE 13

Adap#ve'Control':'MRAC'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

13'

Controller' System'

r' e' u' y'

+' _' Reference' Model' Adap#ve' Law'

yp' θ'

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SLIDE 14

ModelWFree'Adap#ve'Control'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

14'

MFA' Controller' System'

r' e' u' y'

+' _'

x' d'

+' +'

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SLIDE 15

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

15'

ModelWFree'Adap#ve'Control'

MFA' Controller' System'

r' e' u' y' +'_' x' d' +' +'

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SLIDE 16

Adap#ve'Neural'Network'

Network'Ac#va#on'

– feedWforward'network' – propagated'error' – sigmoid'ac#va#on'

Network'Update'

– minimize'error'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

16'

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SLIDE 17

Adap#ve'Neural'Network'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

17'

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SLIDE 18

Parameters'

Network'values'

– hidden'layer'bias' – hidden'layer'bias'weights' – output'layer'bias' – output'layer'bias'weight'

Learning'Values'

– learning'rate'

Network'topology'

– number'of'input'nodes' – number'of'hidden'nodes'

Control'values'

– gain' – error'bounds' – ac#va#on'period'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

18'

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SLIDE 19

Outline'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

19'

Robo#c' Fish'Design' Adap#ve' Control' Velocity' Study' Flow'Tank' Applica#on' Future' Work'

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SLIDE 20

Simula#on'Study'

Swim'at'a'given'(changing)'speed' Adapt'to:'

– different'control'signals' – changing'fin'flexibili#es' – changing'fin'lengths' Evalua#on' – simulate'for'60'seconds'with'a'varying'control'signal' – fitness'='mean'absolute'error'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

20'

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SLIDE 21

UnWtuned'Parameters'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

21'

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SLIDE 22

Single'Trial'Evolu#on'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

22'

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SLIDE 23

Mul#Wtrial'Evolu#on''

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

23'

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SLIDE 24

Mul#Wtrial'Evolu#on''

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

24'

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SLIDE 25

Changing'Dynamics'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

25'

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SLIDE 26

Outline'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

26'

Robo#c' Fish'Design' Adap#ve' Control' Velocity' Study' Flow'Tank' Applica#on' Future' Work'

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SLIDE 27

Sta#on'Keeping'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

27'

Video'of'new'fish'

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SLIDE 28

SISO'to'MIMO'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

28'

MFA' Controller'

r1' e1' u1' y1'

+' _'

x1' d1'

+' +' System' MFA' Controller'

r2' e2' u2' y2'

+'_'

x2' d2'

+' +' (x'accelera#on)' (y'accelera#on)' (frequency)' (bias)' (IMU'xWaxis)' (IMU'yWaxis)'

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SLIDE 29

SISO'to'MIMO'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

29'

MFA' Controller'

r1' e1' u1' y1'

+' _'

x1' d1'

+' +' System' MFA' Controller'

r2' e2' u2' y2'

+'_'

x2' d2'

+' +' Coupler' Coupler' (x'accelera#on)' (y'accelera#on)' (frequency)' (bias)' (IMU'xWaxis)' (IMU'yWaxis)'

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SLIDE 30

Outline'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

30'

Robo#c' Fish'Design' Adap#ve' Control' Velocity' Study' Flow'Tank' Applica#on' Future' Work'

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SLIDE 31

Future'Work':'HighWlevel'Control'

  • Higher'level'control'

– FSM' – ANN'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

31'

MFA' Controller' System'

r' e' u' y'

+'_'

x' d'

+' +'

HighWlevel' Control' (behaviors)'

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SLIDE 32

Future'Work':'Failure'

  • When'MFA'fails'

– the'error'signal'gets'to'high' – combine'with'SelfWmodeling'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

32'

[Rose'2013,'Bongard'2006]'

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SLIDE 33

Conclusions'

  • Increase'adaptability'of'autonomous'robots'

– control'signals,'morphology,'noise'

  • Decrease'modeling'effort'

– evolve'online/onboard'

  • Help'cross'the'reality'gap'in'tradi#onal'ER'

– handle'disparity'between'simula#on'and'reality'

  • Requires'higherWlevel'control'for'behaviors'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

33'

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SLIDE 34

' The'authors'gratefully'acknowledge'the'contribu#ons'and' feedback'on'the'work'provided'by:'

  • Jared'Moore,''
  • Jianxun'Wang,'and''
  • the'BEACON'Center'at'Michigan'State'University.''

This'work'was'supported'in'part'by'Na#onal'Science'Founda#on' grants'IISW1319602,'CCFW1331852,'CNSW1059373,'CNSW0915855,' and'DBIW0939454,'and'by'a'grant'from'Michigan'State'University.'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

34'

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SLIDE 35

Thank'You'

Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

35'

Robo#c' Fish'Design' Adap#ve' Control' Velocity' Study' Flow'Tank' Applica#on' Future' Work'

Ques#ons?'

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SLIDE 36

References'

  • [Wang'2012]':'Dynamic(modeling(of(robo:c(fish(with(a(flexible(caudal(fin.'

– In'Proceedings'of'the'ASME'2012'5th'Annual'Dynamic'Systems'and'Control'Conference,' joint'with'the'JSME'2012'11th'Mo#on'and'Vibra#on'Conference,'Ft.'Lauderdale,'Florida,' USA,'October'2012.'

  • [Clark'2012]':'Evolu:onary(design(and(experimental(valida:on(of(a(flexible(

caudal(fin(for(robo:c(fish.((

– In'Proceedings'of'the'Thirteenth'Interna#onal'Conference'on'the'Synthesis'and' Simula#on'of'Living'Systems,'pages'325–332,'East'Lansing,'Michigan,'USA,'July'2012.'

  • [Bongard'2006]':'Resilient(machines(through(con:nuous(selfBmodeling.(

– Science'314.5802'(2006):'1118W1121.'

  • [Rose'2013]':'Just'Keep'Swimming:'Accoun#ng'for'Uncertainty'in'SelfW

Modeling'Aqua#c'Robots'

– In'Proceedings'of'the'6th'Interna#onal'Workshop'on'Evolu#onary'and'Reinforcement' Learning'for'Autonomous'Robot'Systems,'Taormina,'Italy,'September'2013' Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop'

36'