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检索条件"任意字段=11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014"

共 79 条记录，以下是51-60 订阅

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A Petri Net Model for an Open Path Multi-AGV System

A Petri Net Model for an Open Path Multi-AGV System

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international conference on informatics in control, automation and robotics

作者： Davide Giglio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova

ISBN: (纸本)9781479979202

Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately represents the behaviour of AGVs in the system. AGVs can move freely in the warehouse (an open path AGV system is adopted), and their transportation activities can be modelled as a sequence of elementary or basic actions. In the paper, a coloured Petri net (CPN) model is proposed. It allows representing any sequence of elementary actions of AGVs (including pick-up and drop-off activities), and accurately models the interactions among AGVs, in order to guarantee the safety during the execution of activities. the CPN model can be used to analyse and implement deadlock prevention and deadlock recovery strategies, and it has been adopted in the building of a discrete-event simulator which is employed to analyse the system's performance and to evaluate scheduling policies for transportation tasks.

关键词： Coloured Petri Nets Automated Distribution Warehouses Autonomous Guided Vehicles Forklift AGVs

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A Mixed-Integer Mathematical Programming Model for Integrated Planning of Manufacturing and Remanufacturing Activities

A Mixed-Integer Mathematical Programming Model for Integrate...

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international conference on informatics in control, automation and robotics

作者： Davide Giglio Massimo Paolucci Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova

ISBN: (纸本)9781479979202

this paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. the system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. the required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. the quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. the considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. the performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.

关键词： Remanufacturing Production Planning Mixed-Integer Programming Modelling

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Orientation of doubly nonholonomic mobile manipulator in the path tracking problem

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7th international conference on informatics in control, automation and robotics, icinco 2010

作者： Mazur, Alicja Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9783642195389

In the paper we want to present a problem of path following for nonholonomic mobile manipulators. In our consideration we restrict ourself to doubly nonholonomic mobile manipulators. Nonholonomic constraints appear due to motion of the robotic system without slipping effect between wheels and the surface (for nonholonomic platform) or between special supporting wheels and ball in an onboard manipulator equipped with nonholonomic gears. As a point of departure for mathematical formulation of this problem we will use so-called Frenet parametrization. It establishes some tool to find some control laws solving the formulated problem. A role of orientation in the path tracking will depend on the user-choice and number of control inputs. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Wheels

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Localization of visual codes in the DCT domain using deep rectifier neural networks

Localization of visual codes in the DCT domain using deep re...

引用

international Workshop on Artificial Neural Networks and Intelligent Information Processing, ANNIIP 2014 - In Conjuction with the international conference on informatics in control, automation and robotics, icinco 2014

作者： Bodnár, Péter Grósz, Tamás Tóth, László Nyúl, László G. University of Szeged Department of Image Processing and Computer Graphics Szeged Hungary MTA-SZTE Research Group on Artificial Intelligence Hungarian Academy of Sciences University of Szeged Szeged Hungary

ISBN: (纸本)9789897580413

the reading process of visual codes consists of two steps, localization and data decoding. this paper presents a novel method for QR code localization using deep rectifier neural networks, trained directly in the JPEG DCT domain, thus making image decompression unnecessary. this approach is efficient with respect to both storage and computation cost, being convenient, since camera hardware can provide JPEG stream as their output in many cases. the structure of the neural networks, regularization, and training data parameters, like input vector length and compression level, are evaluated and discussed. the proposed approach is not exclusively for QR codes, but can be adapted to Data Matrix codes or other two-dimensional code types as well.

关键词： Deep neural networks

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Detection and segmentation of near-duplicate fragments in random images

Detection and segmentation of near-duplicate fragments in ra...

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11th international conference on control, automation, robotics and Vision, ICARCV 2010

作者： Śluzek, Andrzej Paradowski, Mariusz Duanduan, Yang School of Comp.Eng. Nanyang Technological University Singapore Singapore Institute of Applied Informatics Wroclaw U. of Technology Wroclaw Poland F. of Physics Astr. and Appl. Inform. Nicolaus Copernicus University Toruń Poland

ISBN: (纸本)9781424478132

Retrieval of near-duplicate image fragments is one of the most challenging problems is CBIR (content-based image retrieval). the objective is to identify almost the same fragments in random images of unpredictable contents. Such fragments usually represent identical object, though captured from a different viewpoint, under different photometric conditions and/or by a different camera. the paper presents techniques developed for such applications. In general, the proposed methods are based on statistical properties of keypoint similarities between compared images. In the first approach, we assume that near-duplicates are (approximately) related by affine transformations, i.e. the underlying objects are locally planar. In the second approach, a wider range of shape distortions is acceptable. Implementations (including online detection in realtime videos) are presented and their performances discussed. Additionally, an algorithm for a highly accurate segmentation of detected near-duplicate fragments is presented. © 2010 IEEE.

关键词： Affine transforms

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Adaptive control of position compensation for Cable-Conduit Mechanisms used in flexible surgical robots

Adaptive control of position compensation for Cable-Conduit ...

引用

international conference on informatics in control, automation and robotics (icinco)

作者： T. N. Do T. Tjahjowidodo M. W. S. Lau S. J. Phee Robotic Research Centre Nanyang Technological University Singapore Newcastle University International Singapore (NUIS) Singapore

Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a method that allows for performing complex operations via natural orifices without skin incisions. Its main tool is a flexible endoscope. Cable-Conduit Mechanisms (CCMs) are often used in NOTES because of its simplicity, safety in design, and easy transmission. Backlash hysteresis nonlinearities between the cable and the conduit pose difficulties in the motion control of the NOTES system. It is challenging to achieve the precise position of robotic arms when the slave manipulator inside the humans body. this paper presents new approaches to model and control for pairs of CCMs. It is known that the change of cable-conduit configuration will affect the backlash hysteresis non-linearities. To deal with such change, a new nonlinear and adaptive control scheme will be introduced. the backlash hysteresis parameters are online estimated under the assumption of availability of output feedback and unknown bound of nonlinear parameters. To validate the proposed approach, a prototype of single-DOF-Master-Slave system, which consists of a master console, a telesurgical workstation, and a slave manipulator, is also presented. the proposed compensation scheme is experimentally validated using the designed system. the results show that the proposed control scheme efficiently improves the tracking performances of the system regardless of the change of endoscope configuration.

关键词： Manipulators Pulleys Endoscopes Hysteresis Grippers Adaptive control

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informatics in control, automation and robotics 2009

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丛书名： Lecture Notes in Electrical Engineering

2009年

作者： Juan Andrade Cetto Jean-Louis Ferrier Joaquim Filipe

ISBN: (数字)9783642002717

ISBN: (纸本)9783642002700

the present book includes a set of selected papers from the 5th "international conference on informatics in control automation and robotics" (icinco 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. the conference was organized in three simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation" and "Systems Modeling, Signal Processing and control". the book is based on the same structure. the purpose of this conference is to bring together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. informatics applications are pervasive in many areas of control, automation and robotics, and this conference intends to emphasize this connection, therefore, most papers highlight applications of Information Technology (IT) in these areas and present ideas on how to solve problems using IT, both in R&D and industrial applications. A diversity of papers are included in the book, ranging from papers describing advanced prototypes, systems, tools and techniques to papers presenting surveys indicating future directions.

关键词： control theory automation robotics

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Selection of different paths for doubly nonholonomic mobile manipulators

Selection of different paths for doubly nonholonomic mobile ...

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作者： Mazur, Alicja Roszkowska, Elzbieta Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 50-372 Wroclaw Poland

ISBN: (纸本)9789898425010

this paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. the doubly nonholonomic mobile manipulator is composed of a mobile platform moving without slipping effect between wheels and the surface (i.e. nonholonomic platform) and an onboard manipulator equipped with special nonholonomic gears, designed by Nakamura, Chung and Sørdalen. A task for any nonholonomic subsystem (i.e. nonholonomic platform or nonholonomic manipulator) is to follow a desired path - some geometric curve parameterized by curvilinear distance from selected point. A description of the nonholonomic subsystem relative to the desired path using so-called Frenet parametrization is a basis for formulating the path following problem and designing a kinematic control algorithm.

关键词： Manipulators

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Mixed color/level lines and their stereo-matching with a modified Hausdorff distance

Mixed color/level lines and their stereo-matching with a mod...

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作者： Lertchuwongsa, Noppon Gouiffès, Michèle Zavidovique, Bertrand IEF Institut d'Electronique Fondamentale CNRS 8622 Université Paris Sud 11 Paris France

ISBN: (纸本)9789898425027

Level lines and sets are competitive features to support recognition. Color is assumed more informative than intensity, so color-lines are preferred to exhibit the set basis. In the paper, they are defined after level lines, and then extracted and characterize. Greater information is kept by color lines resulting into more efficient grouping towards objects. A novel Hausdorff-inspired disparity finder is introduced fed in by color lines with respect to epipolar constraints. the efficient disparity map resulting from pixel wise line-matching between left and right images justifies our technical choices.

关键词： Computer vision

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Modeling smart grids as complex systems through the implementation of intelligent hubs

Modeling smart grids as complex systems through the implemen...

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作者： De Durana, José González Barambones, Oscar Kremers, Enrique Viejo, Pablo University College of Engineering University of the Basque Country Nieves Cano 12 01006 Vitoria-Gasteiz Spain European Institute for Energy Research Karlsruhe Institute of Technology and EDF Emmy Noether Str. 11 76131 Karlsruhe Germany

ISBN: (纸本)9789898425027

the electrical system is undergoing a profound change of state, which will lead to what is being called the smart grid. the necessity of a complex system approach to cope with ongoing changes is presented: combining a systemic approach based on complexity science with the classical views of electrical grids is important for an understanding the behavior of the future grid. Key issues like different layers and inter-layer devices, as well as subsystems are discussed and proposed as a base to create an agent-based system model to run simulations.

关键词： Complex networks

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