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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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Visual servoing for object manipulation: A case study in slaughterhouse

Visual servoing for object manipulation: A case study in sla...

引用

international conference on control, automation, robotics and vision

作者： Haiyan Wu thomas Timm Andersen Nils Axel Andersen Ole Ravn Automation and Control Technical University of Denmark Kgs. Lyngby 2800 Denmark

ISBN: (纸本)9781509035502

automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. the information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. the system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. the approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.

关键词： Robot kinematics Cameras Robot vision systems Service robots Belts abattoirs robot vision system Robot kinematics Object Manipulation belts Service robots Cameras control systems Visual servoing PICK

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A disturbance rejection fuzzy robust parallel distributed compensator design for underactuated robot system

A disturbance rejection fuzzy robust parallel distributed co...

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

作者： Leila Rajabpour Alireza Barzegar Rong Su School of Electrical and Electronic Engineering Nanayang Technological University Singapore

ISBN: (纸本)9781509035502

In this paper we present a robust controller based on Takagi-Sugeno (T-S) fuzzy model. First, we obtain the nonlinear state equation of the underactuated robot systems by linearization, then, the parallel distributed compensation scheme (PDC) is applied to design the controller. Simulation results show the robustness of the pendubot control system against the disturbance.

关键词： Mathematical model Robots Robustness PD control Fuzzy control Stability analysis

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Model predictive motion control of autonomous forklift vehicles with dynamics balance constraint

Model predictive motion control of autonomous forklift vehic...

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international conference on control, automation, robotics and vision

作者： Alireza Mohammadi Iven Mareels Denny Oetomo Melbourne School of Engineering The University of Melbourne Parkville VIC 3010 Australia

ISBN: (纸本)9781509035502

In this paper, a model predictive control is developed for motion planning and control of nonholonomic autonomous forklifts. the proposed model predictive motion control (MPMC) determines the control inputs for tracking a desired path through minimising path-following error, subject to nonholonomic and dynamic balance constraints of the forklift. MPMC also automatically adjusts the tracking velocity and acceleration to traverse the path as fast as possible without violating constraints while minimising the tracking error. In order to facilitate the real-time implementation of MPMC for industrial applications, a successive online linearisation of the nonlinear discrete-time kinematic model of the forklift is employed along with linear time-varying approximation of the tracking errors. the effectiveness of the proposed method has been demonstrated through simulations.

关键词： Acceleration Kinematics Heuristic algorithms Vehicle dynamics Tracking Predictive models Motion control

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Design of linear ADRC for load frequency control of power systems with wind turbine

Design of linear ADRC for load frequency control of power sy...

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international conference on control, automation, robotics and vision

作者： Siying Wang Wen Tan Donghai Li School of Control & Computer Engineering North China Electric Power University Beijing China Department of Thermal Engineering Tsinghua University Beijing China

ISBN: (纸本)9781509035502

In this paper, linear active disturbance rejection control (LADRC) is investigated for the load frequency control (LFC) systems with wind turbine. the wind power is considered as a stochastic load to the power grid. To compensate the stochastic disturbance with LADRC, we adopt a two-stage design method. First an LQG controller is designed to handle the stochastic nature of the load, then the intrinsic link between LQG and LADRC is analyzed and the designed LQG controller is converted to a conventional LADRC so that the LADRC maintains the same property of rejecting stochastic disturbance with the LQG controller. Simulation results show that the designed LADRC with the proposed method can damp the stochastic load disturbance very well.

关键词： wind power generation LQG controller linear active disturbance rejection control load frequency control

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Fast localization for emergency monitoring and rescue in disaster scenarios based on WSN

Fast localization for emergency monitoring and rescue in dis...

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international conference on control, automation, robotics and vision

作者： Mingxiao Lu Xiaoguang Zhao Yikun Huang The State Key Lab of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509035502

Natural disasters, such as earthquake, typhoon and flood, have caused great loss of lives and property each year, which makes emergency monitoring and rescue an imperative problem to be addressed. In this paper, we designed a novel monitoring and rescue system based on wireless sensor network (WSN) for disaster scenarios, which combines environment monitoring, information transmission, and emergency localization. In our system, fast localization through WSN is a crucial technique for searching and rescuing. We proposed an improved weighted centroid algorithm with adaptive error correction to increase localization accuracy of sensor networks with sparse anchors. this method based on received signal strength indication (RSSI) is low cost, expandable, easy to implement, and suitable for disaster rescues.

关键词： Wireless sensor networks Monitoring Wireless communication Algorithm design and analysis Robot sensing systems Weight measurement Kalman filters

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Stability of the networked predictive control system with delay mismatch

Stability of the networked predictive control system with de...

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

作者： Jian Sun Qingtao Zhao School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509035502

Networked predictive control method proposed by Prof. G.P. Liu is an effective method to compensate for the network-induced delay in networked control systems (NCSs). Networked predictive control methods using a state feedback or an observer-based output feedback are both considered in this paper. Stability of the networked predictive control systems when there is a mismatch in the network-induced delay is investigated. Sufficient stability conditions are obtained for the closed-loop systems. A numerical example is given to illustrate the efficacy of the proposed method.

关键词： Delays Stability analysis Numerical stability Predictive control Closed loop systems State feedback

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A data-driven iterative learning control for I/O constrained nonlinear systems

A data-driven iterative learning control for I/O constrained...

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

作者： Ronghu Chi Xiaohe Liu Na Lin Ruikun Zhang School of Automation & Electrical Engineering Qingdao University of Science & Technology Qingdao China

ISBN: (纸本)9781509035502

In this paper, a new data-driven ILC method is proposed for I/O constrained nonlinear systems. An iterative dynamic linearization is introduced for the controlled nonlinear systems. All of the constraints on the system inputs and outputs are reformulated with a linear matrix inequality. the learning control law is then developed by minimizing a predesigned cost function subjected to the linear matrix inequality constraint. Simulation results illustrate the effectiveness of the proposed approach.

关键词： Iterative learning control Nonlinear systems Robots Linear matrix inequalities Simulation Indexes automation

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Investigation of impact task performed by humanoid robot using input shaping control method

Investigation of impact task performed by humanoid robot usi...

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international conference on control, automation, robotics and vision

作者： Asuka Kobayashi Hironori Suzuki Toshiki Hirogaki Eiichi Aoyama Department of Mechanical Engineering Doshisha University 1-3 Tataramiyakodani Kyotanabe-shi Kyoto 610-0321 Japan

ISBN: (纸本)9781509035502

this study examines the use of a humanoid robot for not only entertainment but also industrial tasks in a human-occupied environment. An impact task model based on input shaping control of a robot hand equipped with a flexible rubber stick (RS) is discussed and its efficacy is demonstrated. To maintain safety, limited space and a low-power servo motor are considered. the input shaping amplifies necessary vibration while reducing unnecessary vibration. the humanoid robot performs the impact task with high accuracy using the flexible RS and also realizes efficient motion via a double arm. the proposed approach has potential for both industrial and entertainment applications of a humanoid robot in a human-occupied environment.

关键词： input shaping control method humanoid robot impact task flexible rubber stick

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Bipartite consensus for multiple two-time scales agents over the signed digraph

Bipartite consensus for multiple two-time scales agents over...

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international conference on control, automation, robotics and vision

作者： Wu Yang Yan-Wu Wang Jiang-Wen Xiao Wu-Hua Chen School of Automation Huazhong University of Science and Technology Wuhan 430074 China College of Mathematics and Information Science Guangxi University Nanning Guangxi 530004 China

ISBN: (纸本)9781509035502

the bipartite consensus problem of multiple two-time scales agents over the signed digraph, where both cooperative and competitive interactions exist among the agents, is considered with a new distributed protocol. Sufficient conditions for bipartite consensus is presented in terms of easily checkable algebraic Riccati equation (ARE). Compared with the existing result on consensus of multiple two-time scales agents, the communication topology here is more generic. Moreover, the upper bound of the singular perturbation parameter is also presented. Simulation examples are given to illustrate the effectiveness of the proposed results.

关键词： Protocols Couplings Topology Symmetric matrices Eigenvalues and eigenfunctions Riccati equations Upper bound Riccati equations Symmetric matrix Eigenfunctions Upper bound Couplings topology Agents protocols TWO-COMPONENT directed graphs Signed Dermal denticles coupling

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Stereo vision based autonomous navigation for 3-DOF systems in unstructured environments

Stereo vision based autonomous navigation for 3-DOF systems ...

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international conference on control, automation, robotics and vision

作者： Jingduo Tian Neil thacker Alexandru Stancu School of Electrical and Electronic Engineering The University of Manchester Manchester UK Medical School The University of Manchester Manchester UK

ISBN: (纸本)9781509035502

A stereo vision based autonomous navigation method for 3-DOF systems is presented in this paper. It is able to tackle the learning and recognition problem of generic scenes in an unstructured environment, providing motion-planning capability to control all the 3 DOFs of a robotic system. In this method, 3 spatial constraints are generated from a single visual recognition to estimate the robot pose. A feedback strategy is utilised for robot motion control, without the necessity of knowing any explicit distance information of the environment. the performance of the proposed method is evaluated in a novel wire-frame simulation environment, under the perturbation of multiple uncertainty sources. Autonomous navigation is achieved with good accuracy in the simulation environment, while preserving high robustness to all the uncertainty sources.

关键词： Navigation Robot kinematics Visualization Solid modeling Estimation three-dimensional displays Robot kinematics three-dimensional displays entity modeling autonomous navigation Stereoviews navigation Visualization Simulated Environment

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