Intelligent Control in Practice

Members: Yoshikazu Hirayama

The Shaky Hand was devised as a generic technology demonstrator and was modelled on a village fete game. In the original game, the aim is to guide, by hand, a wire loop along a wiggly wire from one end to another, without touching the loop to the wire. The loop used in the Shaky Hand, however, is guided by a plotter type arrangement with x and y translational drive motors and is rotated by a third motor. A way of providing dependable contol of Shaky Hand using intelligence to react to the failure of subsystems has been established using Cartesian Genetic Programming (CGP). The development of control algorithms with fault tolerance allows robust control in a reliable framework, utilising appropriate redundancy without squandering avaiable computing resources. Successful results have been obtained in Practice. Embodiment problems are overcome. Development of more sophisticated direct control methods are being investigated at moment.