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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1731-1740 订阅

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Bounded Iterative thresholding for Lumen Region Detection in Endoscopic Images 14

Bounded Iterative Thresholding for Lumen Region Detection in...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Elango, Pon Nidhya Lam, Siew-Kei Nanyang Technol Univ Sch Comp Sci & Engn Nanyang Ave Singapore Singapore

ISBN: (纸本)9781509035496

the development of a fully automated robotic endoscopic steering system has been an active area of research for more than a decade. this paper aims at proposing a hardware-efficient iterative thresholding strategy to locate the lumen region in captured endoscopic images in order to enhance traditional endoscopes with certain degree of autonomy and intelligence. the proposed method is characterized by a definite requirement on the number of iterations of thresholding in order to detect the lumen region. the proposed algorithm has been demonstrated to be robust against varying characteristics using real endoscopic sample images. the reduction in the number of operations required by the proposed method can be up to 71% compared to a previously reported method. FPGA synthesis results of the proposed approach confirm its viability for real-time realization.

关键词： computer vision FPGA hardware acceleration medical images

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Leader-following Consensus for Heterogeneous Multi-agent Systems with Bounded Communication Delays 14

Leader-following Consensus for Heterogeneous Multi-agent Sys...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Dun Yu, Mei North China Elect Power Univ Sch Control & Comp Engn Beijing 102206 Peoples R China

ISBN: (纸本)9781509035496

In this paper, leader-following consensus of the discrete-time heterogenous multi-agent system with bounded communication delays is studied. the heterogeneous multi-agent system is composed of first-order and second-order integrator agents. By applying the graph theory and the algebra theory, sufficient consensus criteria are obtained to guarantee that each agent can track the leader. Despite there exist bounded time delays among agents, consensus can also be realised under fixed and switching topologies. Event-triggered control laws are designed to reduce the frequency of individual actuation updating. Numerical examples are provided to demonstrate the effectiveness of the theoretical results.

关键词： Leader-following consensus heterogeneous multi-agent systems communication delays event-triggered strategy fixed topology switching topologies

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Designing a Safe and Robust Automatic Take-off Maneuver for a Fixed-Wing UAV 14

Designing a Safe and Robust Automatic Take-off Maneuver for ...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Kuegler, Martin E. Holzapfel, Florian Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany

ISBN: (纸本)9781509035496

the SAGITTA Demonstrator is a novel UAV with a digital flight control system being developed by the Institute of Flight System Dynamics of the Technical University of Munich. this paper presents the implementation of an automatic take-off algorithm as a system automation module of the auto flight system. Based on a phase-breakdown of take-off, the implementation features a state machine that covers the procedure of the maneuver and the transition conditions from one phase to another. through this state machine, the automatic take-off algorithm enables controller modules of the auto flight system and provides corresponding commands for the conduct of take-off. the design of the automatic take-off algorithm focuses on maximizing safety and robustness against uncertainties and disturbances. Presented simulation results prove the concept of the algorithm as well as its robustness to simulated reality effects.

关键词： Automatic Take-off ATOL System automation Flight control System System Architecture Remotely Piloted Aircraft Unmanned Aerial Vehicle UAV SAGITTA Demonstrator

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Model Predictive control of Discrete T-S Fuzzy Systems with Time-varying Delay 14

Model Predictive Control of Discrete T-S Fuzzy Systems with ...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Teng, Long Wang, Youyi Cai, Wenjian Li, Hua Nanyang Technol Univ Interdisciplinary Grad Sch Energy Res Inst NTU Singapore Singapore Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore Singapore

ISBN: (纸本)9781509035496

Robust model predictive control of discrete non-linear systems with bounded time-varying delay and persistent disturbances is investigated in this paper. the T-S fuzzy systems are utilized to represent nonlinear systems. A Razumikhin-type Lyapunov function is adopted for time-delay systems due to its advantage in reducing the complexity especially for systems with large delays and disturbances. the robust positive invariance set theory for systems subjected to time-varying delay and disturbances is analyzed. In addition, the input-to-state stability is realized due to persistent disturbances. the controller synthesis conditions are derived by solving a sequence of matrix inequalities. Simulation on a continuous stirred-tank reactor (CSTR) is illustrated to verify the effectiveness of the proposed method.

关键词： Lyapunov functions

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Communication Protocol Design in Event-Triggered control of Multi-Agent Systems 14

Communication Protocol Design in Event-Triggered Control of ...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Meng, Xiangyu Xie, Lihua Soh, Yeng Chai Nanyang Technol Univ Sch Elect & Elect Engn EXQUISITUS Ctr Syst Intelligence & Efficiency Singapore 639798 Singapore

ISBN: (纸本)9781509035496

A key problem in event-triggered control of multi-agent systems is to design triggering conditions. We first give an overview of existing triggering conditions used in the literature. However, not all existing triggering conditions can both relax continuous communication between neighboring agents and admit a positive lower bound of inter-event times. then, we propose two new triggering conditions based on edge information rather than neighbor information, and show that Zeno behavior is ruled out by using a time-dependent threshold and a periodic event detector, respectively. Moreover, we list some open problems which are worth the effort to launch future investigations.

关键词： Multi agent systems

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Modeling and control of a Hexacopter with a Rotating Seesaw 14

Modeling and Control of a Hexacopter with a Rotating Seesaw

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Yecheskel, Dolev Arogeti, Shai Ben Gurion Univ Negev Dept Mech Engn Beer Sheva Israel

ISBN: (纸本)9781509035496

this paper presents a novel multicomputer type with a unique structure. this structure allows decoupling angular motion from translational motion along one of the body axes, and by that, five of the body degrees of freedom (DoF) can be controlled independently. the proposed aerial vehicle is a hexacopter with six propellers, such that four propellers are attached to the vehicle body and the other two attached to a seesaw. the seesaw is free to rotate around a single axis that is fixed in the body frame. Compared to a standard hexacopter, this unique design improves the maneuverability of the aerial vehicle, without the price of additional actuators. As opposed to tilting-rotor aerial-vehicle, in the proposed design all actuators generate lift. the paper describes the dynamical model of the novel vehicle and suggests a nonlinear controller to track desired trajectories along five of its DoF. the performances of the design are demonstrated numerically.

关键词： multicopter hexacopter thrust vectoring integral backstepping seesaw under-actuated system

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Robotic and Document Analysis Cross-Fertilization: Improving Place Cells Based Robot Navigation 14

Robotic and Document Analysis Cross-Fertilization: Improving...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Rojas-Castro, Dalia Marcela Revel, Arnaud Menard, Michel La Rochelle Univ Comp Sci Dept Lab L3i Ave Michel Crepeau F-17042 La Rochelle France

ISBN: (纸本)9781509035496

this paper proposes a place cell model allowing place recognition in the context of robot autonomous navigation. the robustness of this approach lies in the fact that even if one or several patterns characterizing the place are removed or not visible anymore, a place can still be recognized. the recognition process in this work is improved with respect to the state-of-the-art place cells approach. Additionally, the interconnection of the modules is made such that the robot is able to learn new places as it navigates and interacts with the environment to get to its final destination. Experimental results validate the advantage of the incremental learning allowing the robot to cope with any unforeseen changes and thus adapting itself to the environment.

关键词： Place-cells recognition robot navigation visual perception data merging hybrid control architecture

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Observer-Based Discrete-Time Sliding-Mode control For Higher-Order Dynamic Delay-Time System 14

Observer-Based Discrete-Time Sliding-Mode Control For Higher...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Patil, Y. P. Patel, H. G. NDMVP Samajs KBT Coll Engn Dept Instrumentat & Control Engn Nasik MS India Sardar Vallabhbhai Natl Inst Technol Dept Elect Engn Surat Gujrat India

ISBN: (纸本)9781509035496

the linear time invariant (LTI) observer-based discrete-time sliding-mode control problem is considered for a robust tracking of higher-order dynamic delay-time systems. Here, Luenberger observer is used for estimation of system states as all states are not available for measurement. Sliding surface is selected based on output feedback and observer states to realize the sliding-mode control. Observer and controller parameters are tabulated by pole placement strategy. the performance of proposed control is improved with dual tuning parameter in terms of settling time and control effort. Finally, non-oscillatory, oscillatory, integrating, and non-minimum phase systems with delay-time examples are implemented with numerical simulations to demonstrate the validity of the proposed control method.

关键词： Discrete-time sliding-mode control higher-order process observer delay time

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1st Prototype of a Variable Viscoelastic Joint System with a Clutch Composed of Pneumtic Air Muscle And Magneto Rheological Brake 14

1st Prototype of a Variable Viscoelastic Joint System with a...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Okui, Auth Manabu Iikawa, Shingo Yamada, Yasuyuki Nakamura, Taro Chuo Univ Fac Sci & Engn Dept Precis Mech Bunkyo Ku 1-13-27 Kasuga Tokyo 1128551 Japan

ISBN: (纸本)9781509035496

In this study, a variable viscoelastic joint system with a clutch for a human assistance was proposed. the variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). this system enabled the human assisting device such as exoskeletons to retain structural softness when compared with the existing devices driven by motor and reduction gear, which could only achieve superficial softness. In addition, a clutch system that provided high back-drivability to the wearer by structurally separating the device from the wearer was proposed. As an initial step in designing the human assisting device, a prototype with the proposed variable viscoelastic joint system for knee assistance is developed. Also, its control method were developed. Furthermore, experiments were conducted to confirm the influence of the proposed viscoelastic joint system on the wearer and the effectiveness of the clutch system.

关键词： component Human assisting device Pneumatic actuator Bio robotics

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State-based Optimal Supervisor for Non-terminating Quantitative Discrete Event Systems 14

State-based Optimal Supervisor for Non-terminating Quantitat...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Pruekprasert, Sasinee Ushio, Toshimitsu Osaka Univ Grad Sch Engn Sci Toyonaka Osaka 5608531 Japan

ISBN: (纸本)9781509035496

this paper studies state-based optimal supervisors for non-terminating discrete event systems (DESs) modeled by weighted automata. An optimal supervisor controls the DES to avoid system halts and maximizes the worst-case limit-average weight of the generated infinite sequences. A state-based supervisor controls the DES depending only on its current state, and required only polynomial space of memory in the number of states and events of the DES. An s-minimally restrictive optimal (s-optimal) supervisor is a state-based optimal supervisor whose enabled set of sequences is as large as possible. We propose an algorithm to compute an s-optimal supervisor if it exists. Moreover, we consider the control costs for enabling controllable events. We derive conditions for assigning the control costs in such a way that the optimal supervisor for the DES with the control costs is also optimal for the DES without the control costs.

关键词： discrete event system supervisory control optimal control mean-payoff game automaton

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