Evolutionary design of fault-tolerant analog control for a piezoelectric pipe-crawling robot

Authors:
Geoffrey A. Hollinger;David A. Gwaltney
Affiliations:
Carnegie Mellon University, Pittsburgh, PA;NASA Marshall Space Flight Center, Huntsville, AL
Venue:
Proceedings of the 8th annual conference on Genetic and evolutionary computation
Year:
2006

Citing 6
Cited 5

Darwin 2k: An Evolutionary Approach to Automated Design for Robotics

Darwin 2k: An Evolutionary Approach to Automated Design for Robotics
A Reconfigurable Platform for the Automatic Synthesis of Analog Circuits

EH '00 Proceedings of the 2nd NASA/DoD workshop on Evolvable Hardware
Genetic Programming IV: Routine Human-Competitive Machine Intelligence

Genetic Programming IV: Routine Human-Competitive Machine Intelligence
A circuit representation technique for automated circuit design

IEEE Transactions on Evolutionary Computation
A synthesis system for analog circuits based on evolutionary search and topological reuse

IEEE Transactions on Evolutionary Computation
The invention of CMOS amplifiers using genetic programming and current-flow analysis

IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems

Automated synthesis of resilient and tamper-evident analog circuits without a single point of failure

Genetic Programming and Evolvable Machines
Combining multiple evolved analog circuits for robust evolvable hardware

IDEAL'09 Proceedings of the 10th international conference on Intelligent data engineering and automated learning
Automated synthesis of multiple analog circuits using evolutionary computation for redundancy-based fault-tolerance

Applied Soft Computing
Swarm intelligence: making differences in analogue circuits structure for fault-tolerance

International Journal of Computer Applications in Technology
Negative correlation in the frequency responses of a pair of analogue circuits results in possible improvement of fault-tolerant performance

International Journal of Computer Applications in Technology

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a genetic algorithm (GA) is used to design fault-tolerant analog controllers for a piezoelectric micro-robot. First-order and second-order functions are developed to model the robot's piezoelectric actuators, and the GA is used to evolve closed-loop controllers for both models. The GA is first used to assist in traditional PID design and is later used to synthesize variable topology analog controllers. Through the use of a compact circuit representation, runtimes are minimized and controllers are synthesized with minimum population sizes and components. Fault-tolerance is built into the fitness function to facilitate the design of controllers robust to both actuator failure and component failure. The GA is successfully used to design synthetic controllers and to optimize a traditional PID design. This research shows the advantages of GA assisted design when applied to robot-control problems.