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检索条件"任意字段=13th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2016"

共 43 条记录，以下是21-30 订阅

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Modeling the G-Protein Signaling of the Retina with Fractional Calculus 12

Modeling the G-Protein Signaling of the Retina with Fraction...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Martinecz, Antal Niitsuma, Mihoko Chuo Univ Precis Mech Bunkyo Ku 1-13-27 Kasuga Tokyo 1128551 Japan

ISBN: (纸本)9789897581496

the first part of a cone's signal transduction is investigated from an image processing perspective in order to find out what differentiates (human) vision from computer vision. We found that the activity of cone opsins-visual pigments that are activated by the impact of a photon-can be described as an approximation of a fractional integrator of order 0.1-0.2 on frequencies between 1-30 Hz. We explore how this affects the output signal and provide examples of how this can be used for noise reduction and image processing. We also present a simplified model since these processes require excessive computational power for computer vision modeling.

关键词： Image Processing Retina Fractional Calculus

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CO-EVOLUTION PRESERVING MODEL REDUCTION FOR UNCERTAIN CYBER-PHYSICAL SYSTEMS Towards a Framework for Nanoscience

CO-EVOLUTION PRESERVING MODEL REDUCTION FOR UNCERTAIN CYBER-...

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6th international conference on informatics in control, automation and robotics

作者： Bujorianu, Manuela L. Bujorianu, Marius C. Univ Manchester Sch Math Manchester M13 9PL Lancs England

ISBN: (纸本)9789896740016

the problem of abstracting computational relevant properties from sophisticated mathematical models of physical environments has become crucial for cyber-physical systems. We approach this problem using Hilbertean formal methods, a semantic framework that offers intermediate levels of abstractions between the physical world described in terms of differential equations and the formal methods associated with theories of computation. Although, Hilbertean formal methods consider both deterministic and stochastic physical environments, in this paper, we focus on the stochastic case. the abstraction method can be used for verification, but also to improve the controller design and to investigate complex interactions between computation and physics. We define also a computational equivalence relation called adaptive model reduction, because it considers the co-evolution between a computation device environment and its physical environment during abstraction.

关键词： Cyber-physical systems Adaptive bisimulation Co-evolution Stochastic model checking Qualitative model reduction Nanoscience

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A novel big-data-based estimation method of side-slip angles for autonomous road vehicles 15

A novel big-data-based estimation method of side-slip angles...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Fényes, Dániel Németh, Balázs Gáspár, Péter Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary

ISBN: (纸本)9789897583216

In the paper a novel side-slip estimation algorithm, which is based on big data approaches, is proposed. the idea of the estimation is based on the availability of a large amount of information of the autonomous vehicles, e.g. yaw-rate, accelerations and steering angles. the significant number of signals are processed through big data approaches to generate a simplified rule for the side-slip estimation using the onboard signals of the vehicles. thus, a subset selection method for time-domain signals is proposed, by which the attributes are selected based on their relevance. Furthermore, a linear regression using the Ordinary Least Squares (OLS) method is applied to derive a relationship between the attributes and the estimated signal. the efficiency of the estimation is presented through several CarSim simulation examples, while the WEKA data-mining software is used for the OLS method. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Big data

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Piaget for the smart control of complex robotized applications in industry

Piaget for the smart control of complex robotized applicatio...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Omori, H. Dessimoz, J.-D. Tomori, H. Nakamura, T. Osumi, H. Department of Precision Mechanics Chuo University 1-13-27 Kasuga Bunkyo-ku Tokyo 112-8551 Japan Institute for Industrial Automation HEIG-VD CH-1400 Yverdon-les-Bains Switzerland

ISBN: (纸本)9789898565716

the control of smart robots, and now similarly smart applications in Factory automation require programming and control capabilities at the integral level of many heterogeneous resources. Significant proposals exist for this purpose, such as ROS, yet we had to develop an original solution, "Piaget". Piaget can be deployed at a very low level, with very fast capabilities (e.g. 100 nanosecond long time slots in average), but more and more is concentrated on higher hierarchical levels, where it brings the capability to flexibly coordinate multiple, largely smart and otherwise autonomous subsystems. this perfectly reflects fundamental constraints in closed-loop control, which occurs in numerous instances for a smart system. Piaget is especially useful in three important phases of projects: development, programming, and real-time operation. An industrial case is studied, involving multiple, otherwise independent, commercially available subsystems, such as industrial robot arm, PLC, IP camera or joint controller. As always, a special end-effector, here multi-tool, had to be designed for the application. Highlight is given of selected software items, relating to the overall application, to the robot arm, or to the vision part. Experiments are reported, addressing three of the most significant process components. Outcomes are successful.

关键词： Factory automation

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On the stabilization of the flexible manipulator: Liapunov based design. Robustness 11

On the stabilization of the flexible manipulator: Liapunov b...

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11th international conference on informatics in control, automation and robotics, icinco 2014

作者： Danciu, Daniela Popescu, Dan Rəsvan, Vladimir Department of Automation Mechatronics and Electronics University of Craiova A.I. Cuza str. No. 13 CraiovaRO-200585 Romania

ISBN: (纸本)9789897580390

this work deals with dynamics and control of the flexible manipulator viewed as a system with distributed parameters. It is in fact described by a mixed problem (with initial and boundary conditions) for a hyperbolic partial differential equation, the flexible manipulator being assimilated to a rod. As a consequence of the deduction of the model via the variational principle of Hamilton from Rational Mechanics, the boundary conditions result as "derivative" in the sense that they contain time derivatives of higher order (in comparison with the standard Neumann or Robin type ones). To the controlled model there is associated a control Liapunov functional by using the energy identity which is well known in the theory of partial differential equations. Using this functional the boundary stabilizing controller is synthesized;this controller ensures high precision positioning and additional boundary damping. All this synthesis may remain at the formal level, mathematically speaking. the rigorous results are obtained by using a one to one correspondence between the solutions of the boundary value problem and of an associated system of functional differential equations of neutral type. this association allows to prove in a rigorous way existence, uniqueness and well posedness. Moreover, in several cases there is obtained global asymptotic stability which is robust with respect to the class of nonlinear controllers - being in fact absolute stability. the paper ends with conclusions and by pointing out possible extensions of the results.

关键词： Boundary value problems

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Dynamic characteristics control of 2-DOF manipulator with artificial muscles and differential gear using disturbance observer

Dynamic characteristics control of 2-DOF manipulator with ar...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Watanabe, T. Kamo, D. Tanaka, D. Nakamura, T. Osumi, H. Department of Precision Mechanics Chuo University 1-13-27 Kasuga Bunkyo-ku Tokyo 112-8551 Japan

ISBN: (纸本)9789898565716

Recently, the demand for robots that operate in the fields of nursing and human life have increased due to the aging population and falling birthrates. Since these robots are intended to operate near humans, it is necessary they should have increased safety measures. Moreover, since it is desired that these robots use actuators that are light and soft, in several cases artificial muscles have been used as actuators. However, the Mckibben-type artificial muscles that are most commonly used have several drawbacks. therefore, we developed a straight-fiber-type artificial muscle that was utilized to construct a two degree-of-freedom (2-DOF) manipulator. Because the manipulator is equipped with a differential gear mechanism, it is capable of performing 2-DOF bending and torsion motions using only one mechanism. However, the rotation speed of gears respectively differs in this mechanism, so the interference occurs in unintended directions because the speed of contraction and extension of the artificial muscle respectively differs. To address this problem, we introduce the disturbance observer (DOB) in the control system. Finally, we show that using our proposed DOB control method results in less interference in the 2-DOF manipulator than when using the proportional integral (PI) control method.

关键词： Manipulators

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Neural Modeling and control of a ¹³C Isotope Separation Process 12

Neural Modeling and Control of a <SUP>13</SUP>C Isotope Sepa...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Muresan, Vlad Abrudean, Mihail Valean, Honoriu Colosi, Tiberiu Unguresan, Mihaela-Ligia Sita, Valentin Clitan, Iulia Moga, Daniel Tech Univ Cluj Napoca Automat Dept Baritiu St Cluj Napoca Romania Tech Univ Cluj Napoca Dept Chem & Phys Cluj Napoca Romania

ISBN: (纸本)9789897581496

the paper presents a solution for the C-13 isotope concentration control inside and at the output of a separation column, solution based on the Internal Model control strategy. the C-13 isotope results from a chemical exchange process carbon dioxide - carbamate, which is a distributed parameter process. In order to model the mentioned process, an original form of the approximating analytical solution which describes the process work in transitory regime is determined. the evolution of the approximating solution depends both on time and on the position from the column height. the reference model of the fixed part of the control structure is implemented using neural networks, representing an original solution due to the fact that a neural model is determined for a distributed parameter process. the controller is, also, implemented using neural networks, its main parameter being adapted in relation to the transducer position change in the separation column. the advantages of using the proposed concentration control strategy consist of: the possibility of controlling the value of the C-13 isotope concentration in any point from the separation column height;the improvement of the system performance regarding the settling time;the possibility to reject the effect of the disturbances.

关键词： Separation Column C-13 Isotope Internal Model control Strategy Neural Networks Distributed Parameter Process Approximating Analytical Solution

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LIMITS OF HUMAN INTERACTION IN DYNAMICALLY SIMILAR TELEOPERATION SYSTEMS Under Unknown Constant Time Delay with Impedance control

LIMITS OF HUMAN INTERACTION IN DYNAMICALLY SIMILAR TELEOPERA...

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6th international conference on informatics in control, automation and robotics

作者： Parra-Vega, V. Garcia-Alvizo, V. P. Olguin-Diaz, E. Garcia-Valdovinos, L. G. CINVESTAV Robot & Adv Mfg Grp Carr Saltillo MonterreyKm 13-5 Saltillo Coahuila Mexico

ISBN: (纸本)9789896740009

Bilateral teleoperation system are prone to instability coming out from the time-delay introduced by the indeterministic communication channel. this problem has been subject of intensive research under the assumption of non-equal master-slave teleoperators, however, what are the implications of dynamically similar teleoperation system (DSTS), is there simpler stability relationship and trade offs among several involved system and feedback parameters? When we consider a linear DSTS system, there arises the question whether there is analytically any advantage, as it was observed heuristically in several experiments (Cho and Park, 2002). In this paper, the stability analysis of such system is reported under an impedance control scheme (Garcia-Valdovinos, 2006) when the delay is considered constant but unknown, by applying the Llewellyn's and Raisbeck's criteria, it is found and explicit and straightforward relationships between the dynamic and kinematic scaling and the stability of the system. this result explicitly suggests clearly guidelines among key factors, such as time delay, desired velocities and feedback gains in terms of the scaling parameters, arises a clear advantage when dealing with dynamically similar systems. this explains why the transparency of the teleoperation system is improved by augmenting/reducing the dynamic/kinematic scaling factor, for given desired frequency, time delay and feedback gains. Simulations and preliminary experimental results illustrate different cases subject to a number of conditions, which can be very useful to design a physical teleoperation system. A preliminary mechatronics design is presented.

关键词： Teleoperation Haptic

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A New Look at the Psychology Lab - Diagnostics and Competencies of the Future 13

A New Look at the Psychology Lab - Diagnostics and Competenc...

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13th international Multi-conference on Complexity, informatics and Cybernetics, IMCIC 2022

作者： Dobrowolska, Malgorzata Ślazyk-Sobol, Magdalena Gąsiorek, Damian Pieloch, Anna Silesian University of Technology International Center for Interdisciplinary Research Gliwice44-100 Poland University of Wroclaw Institute of Psychology Wroclaw50-527 Poland

ISBN: (纸本)9781950492602

the context for the entirety of the new approach to the psychological laboratory presented in this article, both in terms of diagnostics and competencies of the future, is the change observed today in connection with the fourth industrial revolution, which, thanks to the intensification of the development of new technologies through the integration of the communication process - automation, robotics, computerization, allows not only to change the approach to conducting psychological tests, using for example the possibilities of virtual and augmented reality, but also opens up the possibility of diagnosing so far unverified competencies related to the expected work of the future, which we call competencies of the future. these competences include both the ones known, but not as important as, for example, in manual work - personal flexibility or interdisciplinarity, and completely new ones, not yet named or called intuitively today - such as technological proactiveness. It seems to be an interesting direction to undertake critical analyses, which verify this novelty referred to by the authors, because after many in-depth analyses, it turned out that the novelty of competences of the future is limited to the new name and modification of the description, and this is not what it is about. the article includes the issue of careers of the future, which, as if related to technological progress, entail social progress and condition the need for a new approach to psychological research. © 2022 IMCIC 2022 - 13th international Multi-conference on Complexity, informatics and Cybernetics, Proceedings. All rights reserved.

关键词： Augmented reality

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Improving viewpoint invariance of image feature extraction methods using intensity and range images

Improving viewpoint invariance of image feature extraction m...

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2012 13th international Carpathian control conference, ICCC 2012

作者： Kovács, V. Tevesz, G. Department of Automation and Applied Informatics Budapest University of Technology Budapest Hungary

ISBN: (纸本)9781457718687

the most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. these algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images. © 2012 IEEE.

关键词： Object recognition

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