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Adaptive Visual Servo control of Robotic Harvesting Systems

Adaptive Visual Servo Control of Robotic Harvesting Systems

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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

Harvesting efficiency is a critical factor in determining whether robotic harvesting can be economically superior to hand picking. One practical challenge in robotic harvesting is to grasp a moving fruit, where unsuccessful pick cycles may result in lower harvesting efficiency. the fruit motion can be due to exogenous disturbances such as wind gust, canopy unloading, and particularly, fruit detachment forces. In this paper, an adaptive visual servo control law is presented to estimate and subsequently compensate the unknown time varying fruit motion. the fruit motion in the image plane and along the optical axis is modeled as a second-order spring-mass system. the unknown parameters of fruit motion are identified using an adaptive parameter update law, and a robust feedback term is included in the control law to account for modeling uncertainties. Lyapunov-based stability analysis guarantees uniformly ultimately bounded regulation of the robot to the fruit position. Sin mlation results are provided to verify the feasibility of the developed controller. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： vision-based control robotic harvesting agricultural robotics frilit motion

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Highly parallelizable algorithm for keypoint detection in 3-D point clouds 12th

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

作者： Garstka, Jens Peters, Gabriele Faculty of Mathematics and Computer Science Human-Computer Interaction Fern Universität in Hagen University of Hagen Hagen58084 Germany

ISBN: (纸本)9783319318967

In computer vision a reliable recognition and classification of objects is an essential milestone on the way to autonomous scene understanding. In particular, keypoint detection is an essential prerequisite towards its successful implementation. the aim of keypoint algorithms is the identification of such areas within 2-D or 3-D representations of objects which have a particularly high saliency and which are as unambiguous as possible. While keypoints are widely used in the 2-D domain, their 3-D counterparts are more rare in practice. One of the reasons often consists in their long computation *** present a highly parallelizable algorithm for 3-D keypoint detection which can be implemented on modern GPUs for fast execution. In addition to its speed, the algorithm is characterized by a high robustness against rotations and translations of the objects and a moderate robustness against *** evaluate our approach in a direct comparison with state-of-the-art keypoint detection algorithms in terms of repeatability and computation time. © Springer international Publishing Switzerland 2016.

关键词： Computer vision

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An alarm flood pattern matching algorithm based on modified BLAST with leveshtein distance

An alarm flood pattern matching algorithm based on modified ...

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international conference on control, automation, robotics and vision

作者： Yifan Xu Wen Tan Tingshun Li School of Control & Computer Engineering North China Electric Power University Beijing 102206 People's Republic of China

ISBN: (纸本)9781509035502

Alarm flooding is one of the main problems in alarm management. Alarm flood pattern analysis is helpful for root cause analysis of historical floods and for incoming flood prediction. this paper introduces a data driven method for alarm flood pattern matching. A modified BLAST algorithm with Levenshtein distance is proposed to discover similar alarm floods. A quadruple tank process is simulated to test the effectiveness of the proposed algorithm. the results show that the algorithm is quick and accurate.

关键词： Levenshtein distance Alarm flood Pattern matching BLAST

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Model predictive flocking control for the Cucker-Smale multi-agent model

Model predictive flocking control for the Cucker-Smale multi...

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

作者： Wei Wu Bin Liu Hai-Tao Zhang School of Automation Huazhong University of Science and Technology Wuhan P.R. China

ISBN: (纸本)9781509035502

this paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.

关键词： Predictive models automation Multi-agent systems Electronic mail Convergence Nickel Numerical models

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User interface for interaction with heterogeneous vehicles for cyber-physical systems

User interface for interaction with heterogeneous vehicles f...

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international conference on control, automation, robotics and vision

作者： Edin Omerdic Daniel Toal Zoran Vukic Mobile Marine Robotics Research Centre ECE Department University of Limerick Limerick Ireland Laboratory for Underwater Systems and Technologies FER Zagreb University of Zagreb Zagreb Croatia

ISBN: (纸本)9781509035502

this paper provides a brief overview of recent research activities by Mobile & Marine robotics Research Centre (MMRRC) research team focused toward development of user interfaces for interaction with heterogeneous vehicles in smart Cyber-Physical Systems (CPS). the system, which is currently in development, include both classical user interface elements but also a set of novel "natural" multi-modal user interfaces based on exploration and integration of the state-of-the-art emerging technologies, including Virtal Reality (VR) headsets, spatial tracking devices, 6 DoF input devices, hand gesture recognition devices and touch screens.

关键词： user interaction user interface cyber-physical system

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Intelligent PID controller and its application to structural vibration mitigation with MR damper

Intelligent PID controller and its application to structural...

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international conference on control, automation, robotics and vision

作者： YeonWook Choe Dept. of Measurement & Control Engineering Pukyong National University Busan South Korea

ISBN: (纸本)9781509035502

this paper is concerned with applicability of intelligent PID controller, which is proposed by Fliss and Join recently. First, we analyze the stability of the closed-loop system when the parameter a, which should be given by a user, of intelligent PID controller is varying, and propose a method to determine the suitable range of a, by which the stability is guaranteed, by using the roots locus. Second, the simulation study for mitigating the structural vibrations due to earthquakes is presented when the intelligent PID controller is used for the control of a magnetorheological (MR) damper. the performance of the controller is compared with the H∞ controller-case for the El Centro and Northridge earthquake inputs, and it is confirmed its superiority.

关键词： structural vibration mitigation stability intelligent-PID

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A model predictive power control method with longer prediction horizon for distributed power generations

A model predictive power control method with longer predicti...

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international conference on control, automation, robotics and vision

作者： Mahlagha Mahdavi Aghdam Li Li Jianguo Zhu Centre of Green Energy and Vehicle Innovation University of Technology Sydney Ultimo NSW 2007 Australia

ISBN: (纸本)9781509035502

the model predictive control method can be effective for converter control in distributed power generation but requires a large amount of computation, leading to a considerable time delay in the actuation. If the delay is not reflected, the system performance could get worse. this paper presents a two-step (horizon) prediction algorithm of model predictive control technique for grid-tied inverters used in wind turbine systems. the control objectives such as active and reactive power flow and switching loss reduction are reflected in the objective function of the controller. the proposed model predictive control strategy is verified numerically by using MATLAB/Simulink.

关键词： Prediction Horizon Distributed Generation Grid-Tied Power Inverter Model Predictive control

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H∞ performance based filtering for time-varying systems via T-S fuzzy modelling

H∞ performance based filtering for time-varying systems via...

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international conference on control, automation, robotics and vision

作者： Fengqin Xia Xiaojie Su Rongni Yang College of Automation Chongqing University Chongqing China School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9781509035502

this paper considers H∞ reduced-order filtering problem for discrete-time Takagi-Sugeno (T-S) fuzzy systems with time-varying delay in its state. Firstly, Based on the reciprocally convex methods and a novel fuzzy Lyapunov functional, the proposed basis-dependent condition is utilized to ensure that the resulted error system is asymptotically stable with a prescribed H∞ performance and reduce the conservativeness. then, By utilization of the convex linearization technique, the sufficient condition of reduced-order filter design can be casted into linear matrix inequality constraints. Finally, the desired filters can be obtained based on standard numerical algorithms.

关键词： reduced-order filter Fuzzy systems H∞ performance convex linearization approach

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vision based smart driver assisting system for locomotives 8

Vision based smart driver assisting system for locomotives

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8th IEEE international conference on Information and automation for Sustainability, ICIAfS 2016

作者： Sanjay Sriwardene, A.L. Viraj, M.A. Muthugala, J. Buddhika, A.G. Jayasekara, P. Robotics and Control Laboratory Department of Electrical Engineering University of Moratuwa Moratuwa10400 Sri Lanka

ISBN: (纸本)9781509061327

Railway transportation is a predominant transportation medium in the world. the railway transportation is one of the conventional systems that subjects to many accidents annually in most of the countries. Comparatively to other transportation systems, accident preventive methods for locomotives are not in the best use. this paper presents about a novel vision based driver assisting system for locomotives. the proposed system is capable of detecting an obstacle in the railway track. If the obstacle is within the danger zone, the driver will be notified to apply sufficient amount of brake to avoid the collision with the obstacle. the danger zone is estimated based on the current velocity of the train. Furthermore, the proposed system can be fixed into any existing locomotive without undertaking any modifications for the existing systems of the locomotive and the system is cost effective compared to the other existing methods. In order to validate the overall functionality of the system, a prototype of the system has been developed and field trails have been carried out with actual locomotives. According to the obtained experimental results, the functionality of the system has been found to be satisfactory. © 2016 IEEE.

关键词： Locomotives

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Stability analysis of islanded microgrids with dynamic loads

Stability analysis of islanded microgrids with dynamic loads

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international conference on control, automation, robotics and vision

作者： Xiuqin Zhang Jiawei Chen Chengjun Wang School of Automation Chongqing University Chongqing China

ISBN: (纸本)9781509035502

In this paper, a framework for stability analyses of a typical inverter-based islanded microgrid with a non-linear load is presented, namely ideal constant power load (CPL) which is supplied by tightly regulated power electronics converter. the whole dynamic model of the considered microgrid is firstly developed, based on which the small signal model of system is deduced at stable operating point. Afterwards, eigenvalue-based stability analysis and parametric sensitivity analysis are accomplished based on the obtained small signal model to predict the system's unstable regions and identify the effects of parameters on the stability boundaries. Simulation studies based on Matlab/Simulink are finally done to verify the theoretical analyses.

关键词： Inverters Stability analysis Microgrids Mathematical model Load modeling Power system stability Eigenvalues and eigenfunctions

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