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

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Cooperative control of TCSC to Relieve the Stress of Cyber-physical Power System 15

Cooperative Control of TCSC to Relieve the Stress of Cyber-p...

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

作者： Zhai, Chao Xiao, Gaoxi Zhang, Hehong Pan, Tso-Chien Nanyang Technol Univ Inst Catastrophe Risk Management 50 Nanyang Ave Singapore 639798 Singapore Singapore ETH Ctr Future Resilient Syst 1 Create WayCREATE Tower Singapore 138602 Singapore Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore

ISBN: (纸本)9781538695821

this paper addresses the cooperative control problem of thyristor-controlled Series Compensation (TCSC) for eliminating the stress of cyber-physical power system. Specifically, the cyber-physical power system is composed of power transmission network, flexible alternate current transmission systems (FACTS) devices, phasor measurement unit (PMU), and protection and control center. A cooperative control algorithm of TCSC is developed to adjust the branch impedance and redistribute the power flow for the stress relief. To reduce computation burdens, an approximate method is adopted to estimate the Jacobian matrix for producing the TCSC control signals. In addition, a performance index is introduced to quantify the stress level of power system. theoretical analysis is conducted to guarantee the convergence of performance index when the cooperative control algorithm is implemented in the uncertain environment. Finally, numerical simulations are carried out to validate the cooperative control approach on IEEE 24 Bus Systems with the advantages over the PID control.

关键词： Jacobian matrices

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Comparision of different control algorithms for a knee exoskeleton 15

Comparision of different control algorithms for a knee exosk...

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

作者： Luo, Yuhao Wang, Can Wang, Zheng Ma, Yue Wu, Xinyu Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen Peoples R China Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Shenzhen Peoples R China Univ Chinese Acad Sci Shenzhen Coll Adv Technol Shenzhen Peoples R China Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Peoples R China

ISBN: (纸本)9781538695821

though the rapidly development in exoskeleton robot area, there are still some challenges, such as the safe and friendly human-machine interaction. In this paper, we proposed a novel knee exoskeleton driven by Series Elastic Actuator (SEA) which is a compliant actuator has the characteristic low output impedance, low friction, high quality force control and back-drivability. As for walking assistance, the force control is vital. Here, we mainly apply two control method to achieve the robust force control, one is the feedback control with enchaned distrubance observer, another is the Integral Sliding Mode control (ISM). We test both the stability and force tracking performance of the two controler. the result showed that both algorithms can achieve the satisfactory performance and the ISM algorithm obtained the slightly better result.

关键词： Force control

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Stability and L1-gain analysis of impulsive positive systems via discretized copositive Lyapunov function method 15

Stability and L1-gain analysis of impulsive positive systems...

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

作者： Hu, Meng-Jie Yang, Wu Xiao, Jiang-Wen Wang, Yan-Wu Huazhong Univ Sci & Technol Sch Automat Wuhan 430074 Hubei Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan Hubei Peoples R China China Three Gorges Univ Hubei Prov Collaborat Innovat Ctr New Energy Micr Yichang Peoples R China

ISBN: (纸本)9781538695821

this study addresses the stability and L-1-gain analysis for impulsive positive systems (IPSs). By constructing a discretized copositive Lyapunov function, a sufficient condition ensuring the asymptotic stability is established for IPSs under the range dwell time constraint. Based on the stability result, the L-1-gain characterization is further analyzed. the obtained criteria can be checked by the linear programming method. the theoretical results obtained are demonstrated by a numerical example.

关键词： Linear programming

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A Preliminary Evaluation of Static Tests to Detect Slip Using Tyre Strain Sensing System in Robotic Platforms 15

A Preliminary Evaluation of Static Tests to Detect Slip Usin...

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

作者： Lutfi, Ali Farooq Lutfi Low, Tobias Maxwell, Andrew Univ Southern Queensland Fac Hlth Engn & Sci Toowoomba Qld Australia Univ Technol Baghdad Control & Syst Engn Dept Baghdad Iraq

ISBN: (纸本)9781538695821

Wheel slip estimation is a determinant factor in improving performance of wheeled mobile robots. Conventional wheel slip estimation methods relied upon sensors which are far from the tyre-ground interface;hence, they required the use of approximated models and complex transformations. A modern method which directly measures tyre-ground contact quantities utilising in-tyre sensors helps develop accurate and direct wheel slip estimation techniques. In this paper, an optimum sensing system for small, non-pressurised robotic tyres is presented. Data processing algorithms are proposed to show possible techniques for deploying the readings of this system to estimate tyre forces and slip variables. these algorithms analyse the sensing system's measurements in both longitudinal and lateral directions with respect to the tyre direction of motion. Performance of the system is evaluated with static tests using a custom-built, bench-top rig. In these tests, different angular positions, vertical forces, and horizontal forces were tested. Results of these tests demonstrated that the system is capable of detecting tyre slip with a suffcient degree of consistency and robustness.

关键词： Mobile robots

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Detection and Following of Moving Targets by an Indoor Mobile Robot using Microsoft Kinect and 2D Lidar Data 15

Detection and Following of Moving Targets by an Indoor Mobil...

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

作者： Popov, Vasil L. Ahmed, Sevil A. Shakev, Nikola G. Topalov, Andon V. Tech Univ Sofia Branch Plovdiv Control Syst Dept Plovdiv Bulgaria

ISBN: (纸本)9781538695821

the mobile robot following behavior is frequently considered as an important pre-requisite while developing autonomous service robots intended to co-exist with humans in a shared environment. It can also simplify the development of autonomous navigation and obstacle avoidance behavior as well as the robot ability to operate within multiagent formations. In this investigation, an approach is proposed that allows a KUKA youBot omnidirectional mobile platform to detect and follow people carrying different objects, such as suitcases, in a shared indoor environment. Using a Kinect sensor, the mobile robot can recognize standing human with a suitcase and will begin to consider him as a potential dynamic target. the 2D lidar of the mobile platform can further detect when the above target starts to move and will begin to track it. Meanwhile, the robot will start following the human by controlling its own velocity while maintaining a pre-specified orientation and distance.

关键词： Mobile robots Autonomous robotic systems Perception and sensing Information and sensor fusion Decision making and cognitive processes

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VLO: vision-Laser Odometry for Autonomous Flight of Micro Aerial Vehicle 15

VLO: Vision-Laser Odometry for Autonomous Flight of Micro Ae...

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

作者： Tang, Dengqing Fang, Qiang Shen, Lincheng Hu, Tianjiang Natl Univ Def Technol Coll Intelligence Sci & Engn Changsha 41073 Hunan Peoples R China Sun Yat Sen Univ Sch Aeronaut & Astronaut Guangzhou 510006 Guangdong Peoples R China

ISBN: (纸本)9781538695821

this paper presents an onboard micro aerial vehicle (MAV) localization algorithm VLO using onboard multi-sensor system consisting of a camera, a laser scanner and an inertial measurement unit. On the basis of onboard processor, the VLO can operate in real time without any prior information and ground assistance. Besides, it shows a strong robustness since it can work in both small and large, indoor and outdoor environment. As the main sensing devices of this system, the camera and laser scanner generate different characteristic data. the VLO fuses these two kinds of data for a more sufficient information about environment. A filter and an optimizer are then designed to estimate the MAV poses with extra onboard sensors data. Finally, an incremental dense map is updated. Different with vision-based or laser-based odometry, this system has no requirements for environments such as strong texture or structured surroundings. the Gazebo-based simulated and real MAV systems are built together for algorithm validation. the simulated and real results show that our onboard odometry VLO performs strong robustness without any prior information and basic assumptions.

关键词： Cameras

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vision Based Automatic Landing with Runway Identification and Tracking 15

Vision Based Automatic Landing with Runway Identification an...

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

作者： Tripathi, Amit Kumar Patel, Vijay V. Padhi, Radhakant Aeronaut Dev Agcy Bangalore Karnataka India Indian Inst Sci Fac Aerosp Engn Bangalore Karnataka India

ISBN: (纸本)9781538695821

vision based autolanding of a fixed wing unmanned aerial vehicle (UAV) is presented in this paper. the UAV initially searches for a nearby unknown road or runway from the terrain image frames captured by onboard stereovision camera. the captured unknown road or runway are evaluated to be a possible candidate for autolanding of a UAV. Six degree of freedom (6DOF) simulink model of a UAV with landing and navigation autopilot is integrated with flightgear flight simulation software. Flightgear FG camera is used to capture image frames of the nearyby terrain while UAV is in auto navigation mode and performing a level flight with various heading angles to look out for all possible terrain scenario. Image processing techniques are applied on the captured video to identify a smooth and straight road or runway for landing and calculates the relative distance and orientation of the runway or road with respect to UAV's own location. Image processing techniques such as hough transform and random Sample consensus (RANSAC) are used to detect the road strip lines. Once the desired touchdown point on the road is computed as well as road heading is also computed, UAV begins the autolanding maneuver. the image processing techniques are used to identify the candidate road or runway. the heading of the runway and cross track of the runway is computed and autopilot is designed to bring the aircraft at desired touch down point on the road or runway.

关键词： Cameras

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Industrial Maintenance and Assembly Guidance using a Markerless AR System with Monocular Camera 15

Industrial Maintenance and Assembly Guidance using a Markerl...

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

作者： Qian, Kun Zhang, Xiaobo Yu, Hai Ma, Xudong Southeast Univ Sch Automat Key Lab Measurement & Control CSE Minist Educ 2 Sipailou Nanjing 210096 Jiangsu Peoples R China State Grid Corp China Global Energy Interconnect Res Inst Beijing Peoples R China

ISBN: (纸本)9781538695821

Wearable Assistive System (WAS) has shown promising prospect in industrial inspection and maintenance applications, as these tasks are increasingly complex and flexible and especially when they are infrequent and unfamiliar to workers. In this paper, the development of a WAS system with maintenance and assembly guidance function is presented. In particular, the issue of fast and markerless Augmented Reality (AR) instruction generation using monocular camera is addressed. A learning based module of fast equipment panel detection is implemented to allow easy deployment of the system. Based on the recognition results, different features are extracted according the type of equipment, as s set of co-planar reference points, based on which an computationally efficient Perspective-n-Point camera pose estimator is employed. Consequently, a sequence of enriched egocentric-perspective guidance instructions are generated and delivered to users according to an assembly tree based description of the assembly and maintenance sequence. the system is evaluated by experiments conducted for power equipment inspection guidance. the results validate the practicability and effectiveness of the system.

关键词： Wearable Object Recognition Camera Pose Estimation Augmented Reality

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Improving Monocular Depth Prediction in Ambiguous Scenes Using a Single Range Measurement 6th

Improving Monocular Depth Prediction in Ambiguous Scenes Usi...

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

作者： Brown, Jasper Sukkarieh, Salah Univ Sydney ACFR Sydney NSW Australia

Depth maps are widely used in robotics, with numerous applications in agricultural tasks. Methods for estimating these from monocular images currently exist, but this is an ill posed problem which requires assumptions about object scale and camera focal length. these assumptions may not always be reasonable and how to deal with them has not been sufficiently explored in the current literature. For example, scenes in agriculture frequently violate the assumption of having a single scale per object class and represent a failure case for these methods. To avoid these assumptions when estimating depth maps, we present an approach where a single actual distance measurement is fused with a monocular image. Our results indicate that this method can outperform an image-only baseline, provided the distance measurement is sampled according to a projective model. We also found that a single measurement can significantly improve accuracy on simulated variable scale versions of two common public datasets. A hardware implementation of this approach was tested in an agricultural setting, though results were poor. Software and hardware designs are made available(1). (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： depth prediction monocular depth machine learning robot vision sensor fusion

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Development of Virtual Reality-vision System in Robot-Assisted Laparoscopic Surgery 18

Development of Virtual Reality-Vision System in Robot-Assist...

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

作者： Jo, Yeeun Kim, Yoon Jae Moon, Hye-Min Kim, Sungwan Seoul Natl Univ Grad Sch Interdisciplinary Program Bioengn Seoul 08826 South Korea Seoul Natl Univ Med Res Ctr Inst Med & Biol Engn Seoul 03080 South Korea Seoul Natl Univ Dept Biomed Engn Coll Med Seoul 03080 South Korea

ISBN: (纸本)9788993215151

the robot-assisted surgical systems that allow minimally invasive surgery have diverse advantages compared to conventional open surgery. However, there still remain some drawbacks to be improved such as the discontinuous surgical operation flow that occurs during switching control between the endoscope system and the patient side manipulator (PSM). It can lead to collision between surgical instruments, possibility of injury to patients, and increased operation time. thus, a virtual reality-vision system is proposed to enable continuous surgical operation flow and intuitive control of endoscopic system. As a preliminary study, 6 types of motion capture data, pitch down, pitch up, roll left, roll right, yaw left, and yaw right, were collected from two subjects. Signal-to-noise ratio (SNR) is high enough to avoid classification issue, so available ranges of threshold for each motion could be suggested. Based on the provided thresholds, intuitive velocity control strategy of endoscope system will be implemented. Furthermore, collision avoidance system using Oriented Bounded Box (OBB) was designed to suppress user mistakes caused by unintended head motion. the simulation results show motion trajectory of endoscope without any collision with other instruments.

关键词： robot-assisted surgery endoscopic system virtual reality (VR) vision system Oculus collision avoidance

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