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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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Formation tracking of unmanned aerial vehicle swarm systems with predefined formation reference and switching topologies 14

Formation tracking of unmanned aerial vehicle swarm systems ...

引用

14th international conference on control, automation, robotics and vision, ICARCV 2016

作者： Yan, Rui Zhou, Yan Shi, Zongying Zhong, Yisheng Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781509035496

Formation control problems for second-order unmanned aerial vehicle (UAV) swarm systems with switching topologies to achieve the time-varying formation and the predefined time-varying formation reference are investigated. the second-order UAV swarm systems considered are not only required to achieve the specified time-varying formation but also track the predefined time-varying formation reference, and the switching topologies are also taken into consideration. To achieve the predefined time-varying formation reference, a new time-varying formation protocol is proposed, and the formation problem is transformed into the consensus problem. Sufficient and necessary conditions for second-order UAV swarm systems modeled by double integrator to achieve the time-varying formation and the predefined time-varying formation reference are presented. Finally, a quadrotor formation platform consisting of three quadrotors is introduced. the simulation and experiment to demonstrate the efficiency of the proposed formation tracking theory are performed. © 2016 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Adaptive Visual Servoing control of robot Manipulator for Trajectory Tracking tasks in 3D Space

Adaptive Visual Servoing Control of robot Manipulator for Tr...

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RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Hamed Behzadi-Khormouji Vali Derhami Mehdi Rezaeian Computer Engineering Yazd University Yazd Iran

ISBN: (纸本)9781538657041

this paper presents an adaptive visual servoing controller for trajectory tracking in the robotic manipulators. the proposed controller is based on the inverse kinematic model of a robotic manipulator (Arm-6A×18) and position-based visual servoing control. In this research work a Kinect camera, which is fixed as an eye-to-hand configuration, is used for extracting the trajectory in the color and depth images. Using this information, the geometric coordinates of points in Kinect coordinate space are calculated. Afterwards, these coordinates are converted to the robot's coordinate space using an obtained transformation matrix. the parameters of this matrix are calculated using Linear Least Squares Estimator (LSE) method. then, the inverse kinematic model of manipulator is applied on these coordinates to determine the angle of each robot's joint. Due to the brightness intensity and other uncertainties, the Kinect camera has error in the calculation of depths. To cope this problem, an adaptive learning algorithm, called Weighted Recursive Least Square Estimator (WRLSE), is applied. this algorithm adaptively tunes the parameters of transformation matrix in order to reduce the distances between end-effector's trajectory and reference trajectory. For tracking the reference trajectory, Canny edge detector is used to detect the trajectory in the image. thereafter, the detected trajectory is discretized to the set of target points which should be reached by the end-effector. the proposed adaptive controller is applied on a real robotic manipulator. the experimental results show that by using the adaptive learning algorithm, the end-effector can track the trajectory with high accuracy.

关键词： Robot kinematics Trajectory Cameras Robot vision systems Manipulators Mathematical model

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9th international conference on Robotic, vision, Signal Processing and Power Applications: Empowering Research and Innovation

引用

2016年

作者： Haidi Ibrahim Shahid Iqbal Soosiang Teoh Mohd Tafir Mustaffa

ISBN: (纸本)9789811017193

the proceeding is a collection of research papers presented, at the 9th international conference on robotics, vision, Signal Processing & Power Applications (ROVISP 2016), by researchers, scientists, engineers, academicians as well as industrial professionals from all around the globe to present their research results and development activities for oral or poster presentations. the topics of interest are as follows but are not limited to: robotics, control, Mechatronics and automation vision, Image, and Signal Processing Artificial Intelligence and Computer Applications Electronic Design and Applications Telecommunication Systems and Applications Power System and Industrial Applications Engineering Education

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Jaya algorithm for solving urban traffic signal control problem 14

Jaya algorithm for solving urban traffic signal control prob...

引用

14th international conference on control, automation, robotics and vision, ICARCV 2016

作者： Gao, Kaizhou Zhang, Yicheng Sadollah, Ali Su, Rong School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

ISBN: (纸本)9781509035496

this paper studies a large-scale urban traffic signal control problem (LUTSCP). A centralized model is developed for describing the LUTSCP in a scheduling framework. the objective is to minimize the total network-wise delay in a fixed time window. We have implemented a recently developed algorithm, so called Jaya, to solve the LUTSCP. the population initialization is based on the four stages of traffic signal in Singapore. A simple new solution generation strategy is proposed to improve the performance of the Jaya. A neighborhood search operator is proposed based on the characteristics of LUTSCP to improve the search performance in local search space. Experiments are carried out using the traffic signal data from Singapore traffic network. the performance of the new strategy for generating feasible solution and the neighborhood search operator are evaluated and discussed. the optimization results obtained by standard Jaya algorithm and its variants are compared to those by existing traffic signal control system. the comparisons and discussions verify that the Jaya algorithm and its variants are superior over the existing traffic light control. In future work, we will compare the performance of Jaya algorithm to existing intelligent algorithms in literature. © 2016 IEEE.

关键词： Traffic signals

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Generation of Data Sets Simulating Different Kinds of Cameras in Virtual Environments 13

Generation of Data Sets Simulating Different Kinds of Camera...

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13th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Berenguer, Yerai Paya, Luis Reinoso, Oscar Peidro, Adrian Jimenez, Luis M. Miguel Hernandez Univ Elche Dept Ingn Sistemas & Automat Elche Spain

ISBN: (纸本)9789897581984

In this paper a platform to create different kinds of data sets from virtual environments is presented. these data sets contain some information about the visual appearance of the environment and the distance from some reference positions to all the objects. Robot localization and mapping using images are two active fields of research and new algorithms are continuously proposed. these algorithms have to be tested with several sets of images to validate them. this task can be made using actual images;however, sometimes when a change in the parameters of the vision system is needed to optimize the algorithms, this system must be replaced and new data sets must be captured. this supposes a high cost and slowing down the first stages of the development. the objective of this work is to develop a versatile tool that permits generating data sets to test efficiently mapping and localization algorithms with mobile robots. Another advantage of this platform is that the images can be generated from any position of the environment and with any rotation. Besides, the images generated have not noise;this is an advantage since it allows carrying out a preliminary test of the algorithms under ideal conditions. the virtual environment can be created easily and modified depending on the desired characteristics. At last, the platform permits carrying out another advanced tasks using the images and the virtual environment.

关键词： Data Set Map Generation Virtual Environment vision Systems Image Description Omnidirectional Images Point Cloud Data

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Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom 13

Application of Trajectory Optimization Method for a Space Ma...

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13th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Rybus, Tomasz Seweryn, Karol Sasiadek, Jurek Z. Space Res Ctr CBK PAN Bartycka 18a Warsaw Poland Carleton Univ Dept Mech & Aerosp Engn Ottawa ON Canada

ISBN: (纸本)9789897581984

Planned active debris removal and on-orbit servicing missions require capabilities for capturing objects on Earth's orbit, e.g., by the use of a manipulator. In this paper we demonstrate the application of a trajectory optimization algorithm for free-floating satellite-manipulator systems in two cases: a planar system with 2 degrees of freedom manipulator and a spatial system with a manipulator having four degrees of freedom. For the case with planar system, results of experiments performed on an air-bearing microgravity simulator are shown. Quadratic norm connected with the power consumption of manipulator motors has been used as a cost functional that is minimized. Optimal trajectories are compared with straight-line trajectories and it is shown that the optimization allows reduction of the power use of manipulator motors (for the planar system 30 trajectories based on randomly selected initial and final end-effector positions were analysed and the cost functional was, on average, reduced by 49.4%). the presented method could be modified by using cost functional that would, e.g., minimize disturbance on the satellite.

关键词： Space robotics Free-floating Space Manipulator Trajectory Optimization On-orbit Servicing

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vision-Based UAV Navigation in Orchards

Vision-Based UAV Navigation in Orchards

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Stefas, Nikolaus Bayram, Haluk Isler, Volkau Univ Minnesota Minneapolis MN 55455 USA

Unmanned Aerial Vehicles (UAV) are becoming increasingly common in agricultural applications. Currently, they are primarily used to fly over fields in open space. Navigation inside orchard-like environments remains challenging. We study the problem of orchard navigation with cameras on an aerial vehicle. We study both the controller and the vision component. For the vision component, we provide two methods for detecting orchard rows with frontal facing cameras. In the monocular case, we present a pipeline to extract the geometry of tree rows when there is a well defined path structure. In the binocular case, we present a depth-based navigation algorithm to extract the rows. For the controller component, we design a controller that uses both frontal and downward facing cameras and provides reliable performance even on the presence of strong wind disturbances. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： vision-based navigation Unmanned Aerial Vehicles Agricultural robotics

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Multi-camera Fruit Localization in Robotic Harvesting

Multi-camera Fruit Localization in Robotic Harvesting

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Mehta, S. S. Burks, T. F. Univ Florida Dept Ind & Syst Engn Shalimar FL 32579 USA Univ Florida Dept Agr & Biol Engn Gainesville FL 32611 USA

Motivated by an effort to study layered vision systems for robotic harvesting, this paper investigates the problem of fruit localization using multiple cameras in the fruit detection layer of the vision system. A pseudo stereo-vision approach is presented where fruit matching is accomplished by loosely holding the epipolar constraint to reduce computation time. In the presence of noise, heuristics are presented to identify the greatest subset of cameras with matched fruits. Subsequently, the fruit depth is obtained by minimizing the summation of the image reprojection error in cameras with matching fruit. Monte Carlo simulations are performed to establish localization efficiency of the proposed approach under varying design parameters and image noise. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fruit localization fruit matching robotic harvesting pseudo stereo-vision

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Risk assessment of cascading failures in power grid based on complex network theory 14

Risk assessment of cascading failures in power grid based on...

引用

14th international conference on control, automation, robotics and vision, ICARCV 2016

作者： Yanbing, Jia Ruiqiong, Liu Shanxi, Han Xiaoqing Peng, Wang Key Lab. of Power System Operation and Control Taiyuan University of Technology Taiyuan China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

ISBN: (纸本)9781509035496

Cascading failure is an intrinsic threat of power grid to cause enormous cost of society, and it is very challenging to be analyzed. the risk of cascading failure depends both on its probability and the severity of consequence. It is impossible to analyze all of the intrinsic attacks, only the critical and high probability initial events should be found to estimate the risk of cascading failure efficiently. To recognize the critical and high probability events, a cascading failure analysis model for power transmission grid is established based on complex network theory (CNT) in this paper. the risk coefficient of transmission line considering the betweenness, load rate and changeable outage probability is proposed to determine the initial events of power grid. the development tendency of cascading failure is determined by the network topology, the power flow and boundary conditions. the indicators of expected percentage of load loss and line cut are used to estimate the risk of cascading failure caused by the given initial malfunction of power grid. Simulation results from the IEEE RTS-79 test system show that the risk of cascading failure has close relations with the risk coefficient of transmission lines. the value of risk coefficient could be useful to make vulnerability assessment and to design specific action to reduce the topological weakness and the risk of cascading failure of power grid. © 2016 IEEE.

关键词： Risk assessment

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12th international conference on Informatics in control, automation and robotics, ICINCO 2015

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12th international conference on Informatics in control, automation and robotics, ICINCO 2015

ISBN: (纸本)9783319318967

the proceedings contain 22 papers. the special focus in this conference is on robotics and automation. the topics include: Formation control and vision based localization of a system of mobile robots;path tracking controllers for fast skidding rover;gravitational search algorithm-based evolving fuzzy models of a nonlinear process;speech phoneme classification by intelligent decision-level fusion;genetic algorithm for automated X-ray diffraction full-profile analysis of electrolyte composition on aluminium smelters;improving the 3D positioning for low cost mobile robots;kinematics, simulation, and analysis of the planar and symmetric postures of a serial-parallel climbing robot;a standing assistance scheme using a patient’s physical strength by a load estimation considering the muscle arrangements of a human leg;multimodal image registration and visual servoing;trajectory tracking control of an excavator arm using guaranteed cost control;computation of curvature skeleton to measure deformations in surfaces;on structure and distribution of software for mobile manipulators;model-free (human) tracking based on ground truth with time delay;highly parallelizable algorithm for keypoint detection in 3-D point clouds;3D modelling of biped robot locomotion with walking primitives approach in simulink environment;freezing method approach to stability problems;scanning techniques with low bandwidth radar for robotic mapping and localization;pole placement of linear time-varying discrete systems and its application to trajectory tracking control of nonlinear systems;Bayesian quadrature variance in sigma-point filtering and adaptive nonlinear information filters for multiple sensor fusion.

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