General suppression control framework: Application in self-balancing robots

Albert Ko*, H. Y.K. Lau, T. L. Lau

*Corresponding author for this work

Research output: Journal PublicationsConference Paper (in journal)

6 Citations (Scopus)

Abstract

The 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.

Original languageEnglish
Pages (from-to)375-388
Number of pages14
JournalLecture Notes in Computer Science
Volume3627
DOIs
Publication statusPublished - 2005
Externally publishedYes
Event4th International Conference on Artificial Immune Systems, ICARIS 2005 - Banff, Alta., Canada
Duration: 14 Aug 200517 Aug 2005

Fingerprint

Balancing
Robot
Robots
Control systems
Control System
Unstable
Electric fuses
Modulators
Cell
Modulator
Reactor
Demonstrate
Discrimination
Affine transformation
Filter
Distinct
Framework

Keywords

  • Artificial Immune Systems
  • Distributed Control
  • Self-balancing Robots
  • Service Robots

Cite this

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General suppression control framework: Application in self-balancing robots. / Ko, Albert; Lau, H. Y.K.; Lau, T. L.

In: Lecture Notes in Computer Science, Vol. 3627, 2005, p. 375-388.

Research output: Journal PublicationsConference Paper (in journal)

TY - JOUR

T1 - General suppression control framework: Application in self-balancing robots

AU - Ko, Albert

AU - Lau, H. Y.K.

AU - Lau, T. L.

PY - 2005

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AB - The 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.

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KW - Distributed Control

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KW - Service Robots

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