Annual Report 2002 - Örebro universitet

48 AASS – Center for Applied Autonomous Sensor Systems
2.3 Intelligent control lab
Our objective is to develop intelligent control methodologies where techniques from soft
computing, knowledge-based control, and conventional control are synergistically integrated
for the purpose of: (i) low-level robust and adaptive control of non-linear, time-varying and
uncertain systems; (ii) supervisory-level control for gain-scheduling, monitoring, adaptation,
and reconfiguration; (iii) task-level control of goal-oriented system behavior and
management, and supervision of activities at lower levels.
2.3.1 Focus
The focus of research is on the integration of soft computing, conventional control, and
sensing technologies into intelligent systems for high-speed motion control. Included here are
also advanced aspects of the design of dedicated mechatronic systems with embedded
intelligence, e.g., unique light-weight robot arms operating in a stand-alone mode, or mounted
on mobile robot platforms.
The most important directions of our research are:
1. Integrating visual-sensing and the control of a mechatronic system into perception-based
control system (visual-servoing) able to perform human-like motions and operations;
2. Development of advanced control architectures and hardware for the implementation of
control routines based on soft computing;
3. Development of advanced vision- and image-processing algorithms incorporating highspeed
digital hardware and soft computing; and
4. Integration of all of the above into a complete perception-based motion control system
able to operate at high speed at all levels of intelligent control: low-, supervisory, and
task-level control.
The current research projects are grouped according to the following three major fields: (A)
Advanced mechatronic systems; (B) Advanced control; and (C) Vision, image and signal
processing.