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

共 5320 条记录，以下是1741-1750 订阅

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

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

引用

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...

引用

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...

引用

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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Computer vision-based Method for Concrete Crack Detection 14

Computer Vision-based Method for Concrete Crack Detection

引用

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

作者： Tran Hiep Dinh Ha, Q. P. La, H. M. Univ Technol Sydney Sch Elect Mech & Mechatron Syst Sydney NSW Australia Univ Nevada Dept Comp Sci & Engn Reno NV 89557 USA

ISBN: (纸本)9781509035496

this paper presents a computer vision-based method to automatically detect concrete cracks. We focus on images containing the concrete: background and crack, where the background is the major mode of the gray-scale histogram. therefore, we address the detection problem of potential concrete cracks by dealing with histogram thresholding to extract regions of interests from the background. We first employ line emphasis and moving average filters to remove noise from concrete surface images obtained from an inspection robot. the developed algorithm is then applied for automatic detection of significant peaks from the gray-scale histogram of the smoothed image. the biggest peak and its corresponding valley(s) are consequently identified to calculate the threshold value for image binarization. the effectiveness of our proposed method was successfully evaluated on various test images, where cracks could be identified without the requirement of some heuristic reasoning.

关键词： Concrete crack histogram thresholding image segmentation

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A Consensus Based Algorithm for Formation control under Directed and Switching Graphs 14

A Consensus Based Algorithm for Formation Control under Dire...

引用

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

作者： Dong, Xiwang Xiang, Jie Li, Qingdong Ren, Zhang Beihang Univ Sci & Technol Aircraft Control Lab Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

ISBN: (纸本)9781509035496

Formation control problems for linear multi-agent systems with switching and directed topologies are investigated. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is presented to design the formation control protocol. the stability of the proposed algorithm is proven using the piecewise Lyapunov function theory. It is obtained that the predefined time-varying formation can be achieved by the linear multi-agent systems with switching directed topologies if the given time-varying formation belongs to the feasible formation set and the dwell time is larger than a positive threshold. A numerical simulation is provided to demonstrate the effectiveness of the theoretical results.

关键词： Formation control multi-agent system switching directed topology linear dynamics

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Robust control of DC Motor Drives using Higher-order Integral Terminal Sliding Mode 14

Robust Control of DC Motor Drives using Higher-order Integra...

引用

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

作者： Kommuri, Suneel K. Shafiq, G. Rath, Jagat J. Veluvolu, Kalyana C. Kyungpook Natl Univ Sch Elect Engn Daegu 702701 South Korea

ISBN: (纸本)9781509035496

the tracking performance of the industrial servo systems are highly affected by the inherent unstructured uncertainties (external disturbances, and/or unmodeled dynamics), which degrades the reliability of the drive. this paper presents a higher-order terminal sliding mode controller to achieve highaccuracy motion-tracking control of DC motor drives. Fractional integral terminal sliding mode (ITSM) manifold is selected to eliminate the reaching time to the sliding hyperplane, which provides fast tracking error convergence in finite-time. Further, super-twisting control is employed to reduce the chattering while compensating the unwanted unstructured uncertainties compared with the traditional sliding mode control. Experimental results on a DC motor-based industrial mechatronic drives unit (IMDU) with belt-drive load are presented to show the effectiveness of the proposed controller.

关键词： Robust control

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Optimization of Camera-Laser Measurement System 14

Optimization of Camera-Laser Measurement System

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

作者： Chen, Junsheng Farzadpour, Farsam Chen, Xiang Tan, Yonghong Shanghai Normal Univ Coll Informat Mech & Elect Engn Shanghai 200234 Peoples R China Univ Windsor Dept Elect & Comp Engn Windsor ON N9B 3P4 Canada

ISBN: (纸本)9781509035496

In this paper, we propose a method to develop optimization for an integrated measurement system of camera and laser sensors based on tensor interpretation. A new metric called vision distance is applied which involves computing Frobenius and Euclidean norms to effectively measure the degree of alignment between two visual entities in 3D space. Using this metric, a performance function is proposed based on the characteristics of the measurement task, and transformed into a convex programming problem to optimize the camera-laser measurement. the primal-dual interior-point method is applied to solve the optimization problem. An experiment is conducted based on the proposed approach for high-accuracy measurement task of two sample objects. the results show the effectiveness of the proposed approach.

关键词： Tensor vision Distance Camera Laser measurement Convex optimization

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