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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1341-1350 订阅

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Development of Simulator for Autonomous Underwater Vehicles utilizing Underwater Acoustic and Optical Sensing Emulators 18

Development of Simulator for Autonomous Underwater Vehicles ...

引用

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

作者： Kim, Jason Sung, Minsung Yu, Son-Cheol Pohang Univ Sci & Technol POSTECH Dept Creat IT Engn Pohang 37673 Gyeongbuk South Korea

ISBN: (纸本)9788993215151

this paper addresses an autonomous underwater vehicle (AUV) simulator with underwater image sonar and optical vision emulation. Recently, various underwater missions have been automated through the great improvement in underwater image sonar and optical vision technology along with utilization of artificial intelligence. Development of the simulator that emulates underwater image sonar and optical vision can support intelligent underwater missions by visualizing and simulating virtual scenarios and reproducing real missions. In order to benefit from existing software, the presented simulator is based on ROS (Robot Operating System) environment integrated with our image sonar and optical vision emulators. When an underwater virtual scenario of terrain, target objects, and AUVs with sensors is plotted using standard 3-D modeling progams, the simulator configures the scenario and displays sonar and optical images. the ultrasound and light beams arc modeled as a set of rays each, and the image sonar and optical vision are modeled as objects detecting collisions between the rays and target objects at certain positions and orientations. the sonar images generated by the simulator are compared with real images to confirm the validity of the models,

关键词： underwater simulation autonomous underwater vehicle sonar image optical vision

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A Novel Warehouse Multi-Robot automation System with Semi-Complete and Computationally Efficient Path Planning and Adaptive Genetic Task Allocation Algorithms 15

A Novel Warehouse Multi-Robot Automation System with Semi-Co...

引用

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

作者： Tsang, Kam Fai Elvis Ni, Yuqing Wong, Cheuk Fung Raphael Shi, Ling Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Peoples R China

ISBN: (纸本)9781538695821

We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server handles the task allocation and each robot performs local path planning distributively. A genetic-based task allocation algorithm is firstly presented, with modification to enable heuristic learning. A semi-complete potential field based local path planning algorithm is then proposed, named the recursive excitation/relaxation artificial potential field (RERAPF). A mathematical proof is also presented to show the semi-completeness of the RERAPF algorithm. the main contribution of this paper is the modification of conventional artificial potential field (APF) to be semi-complete while computationally efficient, resolving the traditional issue of incompleteness. Simulation results are also presented for performance evaluation of the proposed path planning algorithm and the overall system.

关键词： Motion planning

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Design of contactless electromagnetic levitation and electrostatic driven rotation control system for a micro mirror 15

Design of contactless electromagnetic levitation and electro...

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

作者： Xiao, Qijun Michael, Kraft Luo, Zhonghui Chen, Jianping Wang, Jianbin Zhaoqing Univ Sch Elect & Elect Engn Zhaoqing 526061 CO Peoples R China Katholieke Univ Leuven ESAT Dept MICA Grp B-3001 Leuven CO Belgium Guangdong Polytech Normal Univ Fac Mech & Elect Guangzhou 510665 CO Peoples R China Zhaoqing Univ Sch Comp Sci & Software Zhaoqing 526061 CO Peoples R China

ISBN: (纸本)9781538695821

It is proposed in this paper the design of a contactless electromagnetic levitation and electrostatic driven rotation control system for a micro mirror. the design can levitate an aluminum micro rotor with 3.3mm diameter and 8 mu m thickness. Using electromagnetic force and electrostatic force, the rotor can be levitated to 100 mu m height with 20MHz frequency and 0.5A p-p input current and driven to rotate around the vertical axis within the range of +/- 180 degrees. the control system design is presented using detection and control circuit, and the levitation and rotation figures are also presented. the square wave response experiment is carried out to show its feasibility.

关键词： control systems

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Design of a Data-Driven Two-Degree-of-Freedom control System Considering Robustness 15

Design of a Data-Driven Two-Degree-of-Freedom Control System...

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

作者： Sakaki, Ayumu Kinoshita, Takuya Yamamoto, Toru Hiroshima Univ Grad Sch Engn Dept Syst Cybernet 1-4-1 Kagamiyama Higashihiroshima Hiroshima 7398527 Japan

ISBN: (纸本)9781538695821

Virtual reference feedback tuning (VRFT) and fictitious reference iterative tuning (FRIT) are the data-driven tuning schemes for directly designing feedback controllers. these schemes have been extended to two-degree-of-freedom (2DOF) control systems in recent years. the conventional design schemes of 2DOF controllers need a complicated two-stage tuning process. this paper describes a one-stage tuning scheme for the 2DOF control system using a fictitious exogenous signal based on a data-driven method. In the proposed scheme, 2DOF controllers are designed with one criterion, and the least squares method is applied to find the optimal set of 2DOF controller parameters. According to the proposed scheme, the reference models are determined based on the stability margin that is quantified by the sensitivity function. It is also possible to design a control system taking robustness into account. Finally, the effectiveness of the proposed scheme is numerically verified using a simulation example.

关键词： controllers

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Robust Spherical Formation Tracking control of First-order Agents with An Adaptive Neural Flow Estimate 15

Robust Spherical Formation Tracking Control of First-order A...

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

作者： Ge, Yanteng Chen, Yang-Yang Wang, Qingling Zhai, Junyong Southeast Univ Fac Sch Automat Minist Educ Nanjing 210096 Jiangsu Peoples R China Southeast Univ Key Lab Measurement & Control Complex Syst Engn Minist Educ Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9781538695821

this paper addresses the robust cooperative control for lateral formation tracking a set of circles on the given sphere in an absolutely unknown spatial flowfield. Different from the adaptive estimation method for the unknown flow speed with knowledge of the velocity direction in the literatures, a novel adaptive neural estimate is constructed based on the neighbors' information to approximate the unknown flow velocity. It is noted that such neighbor-based adaptive neural estimation develops the traditional adaptive neural approach by consensus. then, a robust spherical formation tracking control law is established according to flow estimation. the uniform ultimate boundedness is proven when the communication topology associated with networked first-order agents. the effectiveness of the analytical results is verified by numerical simulations.

关键词： Flow velocity

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Real-time Robot vision on Low-performance Computing Hardware 15

Real-time Robot Vision on Low-performance Computing Hardware

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

作者： Lan, Gongjin Benito-Picazo, Jesus Roijers, Diederik M. Dominguez, Enrique Eiben, A. E. Vrije Univ Amsterdam Dept Comp Sci Amsterdam Netherlands Univ Malaga Dept Comp Languages & Comp Sci Malaga Spain

ISBN: (纸本)9781538695821

Small robots have numerous interesting applications in domains like industry, education, scientific research, and services. For most applications vision is important, however, the limitations of the computing hardware make this a challenging task. In this paper, we address the problem of real-time object recognition and propose the Fast Regions of Interest Search (FROIS) algorithm to quickly find the ROIs of the objects in small robots with low-performance hardware. Subsequently, we use two methods to analyze the ROIs. First, we develop a Convolutional Neural Network on a desktop and deploy it onto the low-performance hardware for object recognition. Second, we adopt the Histogram of Oriented Gradients descriptor and linear Support Vector Machines classifier and optimize the HOG component for faster speed. the experimental results show that the methods work well on our small robots with Raspberry Pi 3 embedded 1.2 GHz ARM CPUs to recognize the objects. Furthermore, we obtain valuable insights about the trade-offs between speed and accuracy.

关键词： Program processors

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Globally Stable Bearing-Only Formation control of Multi-Agent Systems 15

Globally Stable Bearing-Only Formation Control of Multi-Agen...

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

作者： Li, Xiaolei Er, Meng Joo Yang, Guanghong Wang, Ning Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Northeastern Univ Informat Sci & Engn Coll Shenyang Liaoning Peoples R China Dalian Maritime Univ Marine Engn Coll Dalian Peoples R China

ISBN: (纸本)9781538695821

In this paper, the bearing-only formation control problem of multi-agent systems is addressed. the main contributions of the paper are twofold: (1) the local maximal clique graph instead of the global infinitesimal bearing rigidity graph is used to describe the formation configuration;(2) the proposed formation control law is globally stable. To be more specific, by considering the inter-agent communication topology satisfies the maximal clique graph condition, a cost function is designed based on the target formation. Next, the rotation bias of the final formation and the target formation are analyzed. Based on the negative gradient of the cost function, a globally stable distributed controller that only depends on the inter-bearing measurements is proposed and global convergence result and analysis are given. An illustrative example demonstrates the effectiveness and efficiency of the proposed control law.

关键词： Cost functions

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Performance Enhancement of Predictive Functional control Using Disturbance Observer and Zero Phase Error Tracking controller 15

Performance Enhancement of Predictive Functional Control Usi...

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

作者： Satoh, Toshiyuki Saito, Naoki Nagase, Jun-ya Saga, Norihiko Akita Prefectural Univ Fac Syst Sci & Technol Akita Japan Ryukoku Univ Fac Sci & Technol Otsu Shiga Japan Kwansei Gakuin Univ Sch Sci & Technol Nishinomiya Hyogo Japan

ISBN: (纸本)9781538695821

this paper investigates a method to enhance the performance of the predictive functional control (PFC) using the disturbance observer (DOB). A control method that combines the PFC and DOB has been developed and shown to be effective in the past few years. However, there remains room for performance improvement by using a feedforward controller. Here, an approach to improving the tracking performance of the DOB-based PFC is presented by applying feedforward compensation using a zero phase error tracking controller (ZPETC). We provide the detailed background for this approach, and present properties of PFC controllers concerned with the transfer function representation. To verify the proposed method, we compare it experimentally to DOB-based and standard PFCs. We show that the tracking performance of the proposed method is much better than the other two control methods.

关键词： controllers

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End-to-end Learning for Autonomous Crop Row-following 6th

End-to-end Learning for Autonomous Crop Row-following

引用

6th international-Federation-of-Automatic-control (IFAC) conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Bakken, Marianne Moore, Richard J. D. From, Pal SINTEF Digital Oslo Norway Norwegian Univ Life Sci NMBU As Norway

For robotic technology to be adopted within the agricultural domain, there is a need for low-cost systems that can be flexibly deployed across a wide variety of crop types, environmental conditions, and planting methods, without extensive re-engineering. Here we present an approach for predicting steering angles for an autonomous, crop row-following, agri-robot using only RGB image input. Our approach employs a deep convolutional neural network (DCNN) and an end-to-end learning strategy. We pre-train our network using existing open datasets containing natural features and show that this approach can help to preserve performance across diverse agricultural settings. We also present preliminary results from open-loop field tests that demonstrate the feasibility and some of the limitations of this approach for agri-robot guidance. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robot vision Robot navigation Machine learning Agricultural robotics Mobile robots

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Actuation System of the MR-compatible Surgical Robot Manipulator 18

Actuation System of the MR-compatible Surgical Robot Manipul...

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

作者： Seung, Sungmin Lee, Joohack Kim, Daegwan Jeong, Semi Cha, Kyungrae Daegu Gyeongbuk Med Innovat Fdn Med Device Dev Ctr Daegu South Korea

ISBN: (纸本)9788993215151

this paper presents the development of a control system for a flexible robot manipulator that can be used in MRI system. In general neurosurgery, real time MR-guide surgical robot is necessary because of the difficult operation due to narrow working area and limited field of view. In addition, the MR-compatible flexible robot manipulator has the advantage that it can perform brain tumor surgery accurately and safety. the surgical robot system consists of a flexible manipulator part, a driving part for operating the tool tip, and a control system for robot operation and MR image processing. the MR-compliant flexible manipulator needs a control system because it operates by the tendon drive method using ultrasonic motor and gear. therefore, this paper describes the whole configuration and tele-operation control system of a flexible robot manipulator. we present the results of the experiments using the developed flexible robot manipulator and the force measurement experiment of the tool tip.

关键词： MRI-Guided robotics Ultrasound Motor Actuation MR-compatible Tele-operation Neurosurgery

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