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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5313 条记录，以下是1321-1330 订阅

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Block Backstepping Trajectories Tracking control for Unmanned Helicopters 15

Block Backstepping Trajectories Tracking Control for Unmanne...

引用

15th international conference on control, automation, robotics and vision (ICARCV)

作者： Yu, Xin Wang, Xiangyu Li, Shihua Liu, Jiyu Zhang, Ya Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Beijing Peoples R China Facri Aviat Key Lab Sci & Technol Aircraft Control Xian Shaanxi Peoples R China

ISBN: (纸本)9781538695821

this paper proposes a block backstepping trajectories tracking control scheme for a class of unmanned helicopters. the control objective is to make the position and yaw angle trajectories of the helicopter track the desired position and yaw angle trajectories. In order to design the controller, the helicopter system is divided into three subsystems at first. then based on the block backstepping technique, four control inputs which constitute the helicopter controller are designed step by step in three subsystems. the asymptotic stability of the closed-loop helicopter trajectories tracking error system is verified based on Lyapunov stability analysis. Finally, numerical simulations demonstrate the effectiveness of the proposed block backstepping control scheme.

关键词： Backstepping

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Development of EtherCAT Slave Based on Multi-Core DSP 15

Development of EtherCAT Slave Based on Multi-Core DSP

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Park, Sung-Mun Kim, Hyoung-Woo Cho, Hyung-Man Choi, Joon-Young Pusan Natl Univ Dept Elect Engn Busan 46241 South Korea

ISBN: (纸本)9781538695821

We develop a hardware and software for EtherCAT slave based on multi-core DSP in order to apply to control applications. Beckhoff's ET1100 ASIC is employed as EtherCAT slave controller;EtherCAT slave stack and control application algorithm are processed by individually assigned DSP core;and data interexchange between the two DSP cores is carried out by using the Inter-Process Communication mechanism. Namely, we intentionally separate the EtherCAT communication stack process from control application process using multi-core DSP, which enables to achieve conducting complicated control application as well as high-speed communication cycle. the high performance of the developed EtherCAT slave are demonstrated by real experiments using EtherCAT network composed of the developed slave and IgH EtherCAT master for Linux.

关键词： Process control

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Powered Two-Wheeled Vehicles Steering Behavior Study: vision-Based Approach 15

Powered Two-Wheeled Vehicles Steering Behavior Study: Vision...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Damon, Pierre-Marie Hadj-Abdelkader, Hicham Arioui, Hichem Youcef-Toumi, Kamal Univ Paris Saclay IBISC Lab Evry France MIT MRL Cambridge MA 02139 USA

ISBN: (纸本)9781538695821

this paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turns. the proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. the inverse perspective mapping technique is used to reconstruct a bird-eye-view of the road image. then, filters are applied to keep only the road markers which are, afterwards, approximated with the well-known clothoid model. this allows the prediction of the road geometry such as the curvature ahead of the motorcycle. Finally, from the predicted road curvature, the measurements of the Euler angles and the vehicle speed, the proposed algorithm is able to characterize the steering behavior. To that end, we propose to estimate the steering ratio and we introduce new pertinent indicators such as the vehicle relative position dynamics to the road. the method is validated using the advanced simulator BikeSim during a steady turn.

关键词： Motorcycles

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Computer vision System for Cabin Door Detection and Location 15

Computer Vision System for Cabin Door Detection and Location

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Andonovski, Bojan Wang, Jianliang Nanyang Technol Univ Fac Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore

ISBN: (纸本)9781538695821

this paper describes the outcomes of a framework for aircraft door position identification with visual camera using common features that can be found in all commercial airplanes, which guides the aerobridge to automatically and reliably dock (Precision of 0.5cm), with minimal human intervention. the system has to work day and night, rain or shine under all-weather conditions. the proposed solution consists of a suite of relevant extracted and identified features that characterize aircraft door (e.g. door windows, handle, text, footplate, arrow, frame lines). Furthermore, the work focuses on a final door position confirmation accomplished by the logical structure for the decision process for the identification of the aircraft door using the various features. In that way we are able to build confidence level with appropriate structural (logical component connection) organization. thus, the aircraft door frame can be accurately identified with a very small error (in the range of a couple of cm) and eliminate risk of injuring the personnel or damaging the airplane.

关键词： Computer vision

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Tracking control for Non-Identical Euler-Lagrange Systems with An Event-triggered Observer 15

Tracking Control for Non-Identical Euler-Lagrange Systems wi...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Jin, Xin Tang, Yang East China Univ Sci & Technol Key Lab Adv Control & Optimizat Chem Proc Minist Educ Shanghai 200237 Peoples R China

ISBN: (纸本)9781538695821

In this technical note, the event-based leader-following control is investigated for a multiple non-identical Euler-Lagrange system with a directed graph. An event-triggered observer is provided to estimate the state of a dynamic leader. To avoid continuous interaction among agents, a broadcasting communication mechanism based on models is utilized. Combining with the event-triggered observer, a distributed adaptive tracking control is presented for multiple lagrangian systems with uncertainties such that all nodes asymptotically follow a virtual leader governed by a linear model. Finally, a simulation with 2-degree-of-freedom manipulators is presented to verify the usefulness of our proposed methods.

关键词： Directed graphs

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Realization of the Fast Real-Time Hierarchical Inverse Kinematics for Dexterous Full Body Manipulation 18

Realization of the Fast Real-Time Hierarchical Inverse Kinem...

引用

18th international conference on control, automation and Systems (ICCAS)

作者： Hong, Seongil Park, Gyuhyun Lee, Wonsuk Kang, Sincheon Seoul Natl Univ Dept Mech & Aerosp Engn Robot Lab Seoul 08826 South Korea Agcy Def Dev Daejeon 305600 South Korea

ISBN: (纸本)9788993215151

We focus on the realization of the hierarchical inverse kinematics as a practical means of a hard real-time motion planning for a humanoid robot. To achieve complex on-line full body manipulation performance, a task priority is established among the tasks to precisely resolve task conflicts and all algorithms are described in recursive equations so as to minimize computation time. Formulating the kinematic problem in a least-square optimization enables us to derive solutions in a unified and consistent framework. the performance is validated through numerical simulations with bearing mind of rescue robot applications and finally, the inverse kinematic solution is found within 0.3msee on average for 19 degrees of freedom control.

关键词： Humanoid robotics hierarchical kinematics Greville's method task priority real-time control rescue robot

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Hidden Nonlinear Oscillations in controlled Aircraft With Saturated Inputs 15

Hidden Nonlinear Oscillations in Controlled Aircraft With Sa...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Andrievsky, Boris Kuznetsov, Nikolay V. Kuznetsova, Olga A. RAS IPME 61 Bolshoy Pr St Petersburg 199178 Russia St Petersburg State Univ 28 Univ Sky Pr St Petersburg 198504 Russia ITMO Univ 49 Kronverkskiy Pr St Petersburg 197101 Russia Univ Jyvakyla Jyvaskyla Finland

ISBN: (纸本)9781538695821

In the paper two types of nonlinear limit-cycles oscillations in flight control systems, caused by typical static nonlinearities of the control surfaces actuators that arise in the flight of aircraft are considered: the elastic-flexural flutter of the wing and pilot induced oscillations (PIO), where interactions of a flight controller with a human pilot's dynamics can cause the origin instability. Hidden oscillations in the pilot-aircraft closed loop are studied and localized by means of the iterative analytical-numerical method. A problem of adaptive flutter suppression is studied and an opportunity of emerging the hidden oscillations due to controlling surface saturation in rate and magnitude is demonstrated.

关键词： constrained control limit cycle oscillations aerospace stability of nonlinear systems

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Computer vision-enabled HCPS Assembly Workstations Swarm for Enhancing Responsiveness in Mass Customization

Computer Vision-enabled HCPS Assembly Workstations Swarm for...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Shiquan Ling Daqiang Guo Cheng Qian Di Ao Tongda Zhang Yiming Rong George Q. Huang Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Department of Industrial Engineering Northwestern Polytechnical University Department of Mechanical and Energy Engineering Southern University of Science and Technology

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Facing fierce competition in mass customization, rapid response to dynamic changes is strategically important for manufactures to increase opportunity of survival in high-mix, low-volume (HMLV) environment. the traditional dedicated manufacturing system for mass production is required to become modular, scalable and reconfigurable for increasing flexibility and responsiveness to cope with the changing market. Motivated by a hybrid assembly cell lines (HACL) in real-life, a distributed assembly cells system, inspired by swarm intelligence (SI) concept and swarm robotics, has been proposed, named swarm assembly system (SAS). In order to apply and reap the benefits of SI to SAS, three main components are designed by referring to swarm robot system and they are human-cyber-physical system holon (HCPS Holon), intelligent assembly workstation (iWorkstation) and operational framework of SAS. Computer vision technologies are employed to monitor and analyze real-time worker status and operation information within the iWorkstation for closed-loop adaptive control. the hybrid operational framework of SAS provides the basis for communication between iWrokstations and global decision making. Several scenarios are designed to show its potential benefits in robustness, reconfigurability and scalability, resulting in enhancing responsiveness in HMLV environment.

关键词： Synthetic aperture sonar Computer architecture Robot sensing systems Manufacturing systems Microprocessors

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CNN based on LBP for Evaluating Natural Disasters 15

CNN based on LBP for Evaluating Natural Disasters

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Cirneanu, Andrada Livia Popescu, Dan Ichim, Loretta Univ Politehn Bucuresti Fac Automat Control & Comp Sci Bucharest Romania Univ Politehn Bucuresti Fac Automat Control & Comp 313 Splaiul Independentei Bucharest 060042 Romania

ISBN: (纸本)9781538695821

this paper presents a novel evaluation method of areas affected by natural disasters with the purpose of managing these crisis situations. Since it is necessary to have a real overview of a specific area in the shortest time, our methodology proposes a neural network with backpropagation approach for flood detection from UAV images. For this, the Local Binary Pattern (LBP) texture operator is used for areas classification. the LBP operator labels each pixel of the analyzed image by comparing it with its neighbors, which ends with the computation of a binary number that it is converted to decimal format named LBP code. thus, based on the generated LBP codes, a histogram type feature is computed and used in both training and testing phases of the proposed neural network. Over 50 images obtained with the aid of UAV technology were tested with the proposed neural network and good results in terms of accuracy for flood areas detection were obtained.

关键词： Local binary pattern

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A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing control of a Single-wheel Robot 15

A Minimum Phase Modeling Approach to Disturbance Observer De...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Lee, Sang D. Jung, Seul Chungnam Natl Univ Dept Mechatron Engn Intelligent Syst & Emot Engn Lab Daejeon 34134 South Korea

ISBN: (纸本)9781538695821

Stabilization of the inverse model of the target system is a critical problem in a current disturbance observer (DOB) based control scheme. When the system is identified as a second order system by the recursive least square (RLS) algorithm, the minimum phase (MP) of the model is not guaranteed. this paper addresses a guaranteed minimum phase method of the identified second order model. Jury's test is conducted to check the stability. All-Pass-Filtering (APF) process are conducted for updating prior parameters of RLS to satisfy the minimum phase criteria. To verify the proposal, a single-wheel robot is identified as a second order model by the RLS method with guaranteed stability. Disturbance observer is designed based on the model. Balancing control experiments of a single-wheel robot are conducted.

关键词： System identification minimum phase system recursive least square all pass filtering one-wheel inverted pendulum

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