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Conference Paper: General suppression control framework: Application in self-balancing robots

TitleGeneral suppression control framework: Application in self-balancing robots
Authors
KeywordsArtificial Immune Systems
Distributed Control
Self-balancing Robots
Service Robots
Issue Date2005
PublisherSpringer Verlag. The Journal's web site is located at http://springerlink.com/content/105633/
Citation
Lecture Notes In Computer Science, 2005, v. 3627, p. 375-388 How to Cite?
AbstractThe General Suppression Control Framework (GSCF) is a framework inspired by the suppression hypothesis of the immune discrimination theory. The framework consists of five distinct components, the Affinity Evaluator, Cell Differentiator, Cell Reactor, Suppression Modulator, and the Local Environment. These reactive components, each responsible for a specific function, can generate long-term and short-term influences to other components by the use of humoral and cellular signals. This paper focuses in the design of a control system that aims to balance and navigate a self-balancing robot though obstacles based on the five components in GSCF. The control system demonstrates how simple combination of suppression mechanism can filter and fuses two unstable measurements together to obtain reliable measurement to maintain the balance of a dynamically unstable system. The control system is implemented in a two-wheeled self-balancing robot for its inherited instability can best demonstrate the systems responsiveness to dynamic changes. © Springer-Verlag Berlin Heidelberg 2005.
Persistent Identifierhttp://hdl.handle.net/10722/100123
ISSN
2005 Impact Factor: 0.402
2015 SCImago Journal Rankings: 0.252
References

 

DC FieldValueLanguage
dc.contributor.authorKo, Aen_HK
dc.contributor.authorLau, HYKen_HK
dc.contributor.authorLau, TLen_HK
dc.date.accessioned2010-09-25T18:57:39Z-
dc.date.available2010-09-25T18:57:39Z-
dc.date.issued2005en_HK
dc.identifier.citationLecture Notes In Computer Science, 2005, v. 3627, p. 375-388en_HK
dc.identifier.issn0302-9743en_HK
dc.identifier.urihttp://hdl.handle.net/10722/100123-
dc.description.abstractThe General Suppression Control Framework (GSCF) is a framework inspired by the suppression hypothesis of the immune discrimination theory. The framework consists of five distinct components, the Affinity Evaluator, Cell Differentiator, Cell Reactor, Suppression Modulator, and the Local Environment. These reactive components, each responsible for a specific function, can generate long-term and short-term influences to other components by the use of humoral and cellular signals. This paper focuses in the design of a control system that aims to balance and navigate a self-balancing robot though obstacles based on the five components in GSCF. The control system demonstrates how simple combination of suppression mechanism can filter and fuses two unstable measurements together to obtain reliable measurement to maintain the balance of a dynamically unstable system. The control system is implemented in a two-wheeled self-balancing robot for its inherited instability can best demonstrate the systems responsiveness to dynamic changes. © Springer-Verlag Berlin Heidelberg 2005.en_HK
dc.languageengen_HK
dc.publisherSpringer Verlag. The Journal's web site is located at http://springerlink.com/content/105633/en_HK
dc.relation.ispartofLecture Notes in Computer Scienceen_HK
dc.rightsThe original publication is available at www.springerlink.com-
dc.subjectArtificial Immune Systemsen_HK
dc.subjectDistributed Controlen_HK
dc.subjectSelf-balancing Robotsen_HK
dc.subjectService Robotsen_HK
dc.titleGeneral suppression control framework: Application in self-balancing robotsen_HK
dc.typeConference_Paperen_HK
dc.identifier.emailKo, A:albertko@hku.hken_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.emailLau, TL:tllau@hkucc.hku.hken_HK
dc.identifier.authorityKo, A=rp00124en_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.identifier.authorityLau, TL=rp00138en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-26944435478en_HK
dc.identifier.hkuros103242en_HK
dc.identifier.hkuros119200-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-26944435478&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume3627en_HK
dc.identifier.spage375en_HK
dc.identifier.epage388en_HK
dc.publisher.placeGermanyen_HK
dc.identifier.scopusauthoridKo, A=22334217900en_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK
dc.identifier.scopusauthoridLau, TL=7102222436en_HK

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