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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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the review of educational robotics research and the need for real-world interaction analysis

The review of educational robotics research and the need for...

引用

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

作者： Nicholas Wong Wai Hong Esyin Chew Jojo Wong Sze-Meng School of Information Technology Monash University 47500 Subang Jaya Selangor Malaysia School of Information Technology Monash University Subang Jaya Selangor Malaysia

ISBN: (纸本)9781509035502

this study reviews the educational theories and existing literature for the integration of robots to support teaching in classrooms by assessing integration methods and the effectiveness of educational robotics on student learning. Most of the research on this subject are only focused on children from kindergarten to middle schools and analyzed the end results from questionnaires and grades. Without analysis on the human-robot interaction itself, the effectiveness of robots in classrooms is questionable especially in the higher education context. Future research should leverage more refined data analysis techniques such as learning analytics to directly focus on interaction and conversation dynamics.

关键词： Humanoid robots Data collection Training Psychology Databases

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A consensus based algorithm for formation control under directed and switching graphs

A consensus based algorithm for formation control under dire...

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international conference on control, automation, robotics and vision

作者： Xiwang Dong Jie Xiang Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 P.R. China

ISBN: (纸本)9781509035502

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

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Distributed voltage unbalance compensation in an islanded microgrid system by using negative sequence current feedback

Distributed voltage unbalance compensation in an islanded mi...

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international conference on control, automation, robotics and vision

作者： Fanghong Guo Changyun Wen Jiawei Chen Energy Research Institute at NTU (ERI@N) Interdisciplinary Graduate School Nanyang Technological University Singapore School of Electrical and Electronic Engineering Nanyang Technological University Singapore Key Laboratory of Dependable Service Computing in Cyber Physical Society of the Ministry of Education and School of Automation Chongqin University China

ISBN: (纸本)9781509035502

this paper presents a distributed voltage unbalance compensation method for an islanded microgrid (MG) system. By using hierarchical control concept, we design a distributed compensation scheme in the secondary control layer, while the traditional inverter control methods including voltage and current PR control, droop control, virtual impedance are implemented in the primary layer. Different from most existing centralized compensation methods, no specified individual centralized secondary controller exists. We decompose the traditional centralized controller into several local secondary controllers. A novel distributed PI controller with negative sequence current feedback is designed in each secondary controller. By allowing them to exchange information with their neighboring controllers respectively, the unbalanced voltage in the sensitive load bus (SLB) can be compensated by all the distributed generators (DGs) cooperatively. In addition, the compensation effort of each DG is designed to be proportional to their power ratings respectively. An islanded microgrid system consisting of 4 DGs is built in MATLAB to validate the proposed method.

关键词： Voltage control Inverters Microgrids Electronic mail Generators Reactive power automation

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High precision motion control of piezo-actuated stages using discrete-time sliding mode control with prescribed performance function

High precision motion control of piezo-actuated stages using...

引用

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

作者： Nguyen Manh Linh Xinkai Chen Shibaura Kogyo Daigaku Koto-ku Tokyo JP Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan

ISBN: (纸本)9781509035502

In this paper, high precision motion control of piezo-actuated stage is discussed. In order to cope with the nonlinear characteristic of the piezoelectric actuator (PEA) and get high tracking performance, this paper proposes a new approach to design the discrete time sliding mode control (DSMC) with an ability to maintain the tracking error in a known region described by a performance function. the effectiveness of the proposed method is verified by experiments. the results show that the system not only performs well with complicated desired trajectories but also robust against external disturbances.

关键词： Hysteresis Mathematical model Motion control Sliding mode control Adaptation models Estimation error

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Semi-autonomous control of an unmanned aerial vehicle

Semi-autonomous control of an unmanned aerial vehicle

引用

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

作者： Yon Lai Woen Joo Er Meng Cheng Ng Zhan Wei Goh Qi School of Mechanical & Aerospace Engineering Nanyang Technological University Singapore Singapore SG

In recent years, Unmanned Air Vehicles (UAV) are gaining popularity among hobbyist, university-level researchers and military agencies. this paper presents the enhancement of a commercial-off-the-shelf (COTS) product that is capable of achieving semi-autonomous flight. the details of the selection of various components and software design are discussed. Take-off, hovering and landing controls for indoor flying capabilities are achieved by deriving the mathematical model of the quadcopter dynamics. Altitude control algorithm is implemented to ease the burden of the pilots. the final design of the quadcopter fulfils the flight capability and the required stability.

关键词： Payloads Sensors Drones Algorithm design and analysis Propellers Microcontrollers

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An adaptive detection approach for autonomous forest path following using stereo vision

An adaptive detection approach for autonomous forest path fo...

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

作者： Patrick Fleischmann Johannes Kneip Karsten Berns Department of Computer Science University of Kaiserslautern Kaiserslautern Germany

ISBN: (纸本)9781509035502

In this paper, an image-based segmentation method to improve autonomous robot navigation in the forest is presented. the detection is supported by a filtered image generated from a stereo-based pre-processing which is a byproduct of our obstacles detection system. To cope with the large variability of forest paths, the classifier is dynamically adapted to the current situation and the segmentation relies on different image features to ensure robustness against illumination changes. Furthermore, it is summarized how the detection results are transformed to the 3D space, using a plane which is extracted from the stereo data, to be stored and maintained in a probabilistic grid map.

关键词： Roads three-dimensional displays Image segmentation Image color analysis Navigation Robot kinematics

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Nonliear-disturbance-observer based DC-bus voltage control for DC microgrid

Nonliear-disturbance-observer based DC-bus voltage control f...

引用

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

作者： Zhu Hong Dongsheng Yu Hao Chen He Cheng Xiaoshu Zan School of Information and Electrical Engineering China University of Mining and technology Xuzhou China

ISBN: (纸本)9781509035502

In order to improve the DC-bus voltage control performance and suppress the transient fluctuation of DC-bus voltage, a nonlinear disturbance observer (NDO) based DC-bus controller is proposed in this paper. the feed-forward compensation of active power disturbance is achieved by the proposed controller to reject the influence of parameter variations and the mismatched disturbance from the output terminals. the active power disturbance of feed-forward compensation can be effectively estimated by the NDO without requirement of measuring the load and sources power, which will reduce the hardware cost and also increase the reliabilities of DC microgird. the feed-forward compensation gain is designed by taking convergence rate of the observer and the influence of compensation gain on the stability of DC microgrid into account. Simulations are carried out to verify the performance of the proposed control method in consideration of different disturbances.

关键词： conferences automation Robots

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Novel control law for predictor-based MRAC for overactuated systems

Novel control law for predictor-based MRAC for overactuated ...

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international conference on control, automation, robotics and vision

作者： Guillermo P. Falconi Christian D. Heise Florian Holzapfel Institute of Flight System Dynamics (FSD) Technische Universitat Munchen (TUM) 85748 Garching b. Munchen Germany

ISBN: (纸本)9781509035502

In this paper, novel control and update laws for predictor-based Model Reference Adaptive control for the case of over-actuated systems are presented. A weaker assumption than positive definiteness of the control effectiveness matrix is formulated. this allows to take actuator failures and even changes in the control direction into account. Furthermore, it is shown that the number of adaptive parameters can be reduced avoiding over-parameterization. the control law is applied to a hexarotor example and simulation results demonstrate the control law's capabilities.

关键词： control law model reference adaptive control control effect Actuating systems Simulation results adaptive control

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Consensus of discrete-time multi-agent systems via low-gain impulsive control

Consensus of discrete-time multi-agent systems via low-gain ...

引用

international conference on control, automation, robotics and vision

作者： Yang Tang Zhen Li Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai 200237 PR China School of Information Science and Technology Donghua University Shanghai 201620 PR China

ISBN: (纸本)9781509035502

In this brief, a novel impulsive control has been proposed for consensus problems of discrete-time multi-agent systems. Utilizing the Lyapunov technique, a parametric discrete-time Riccati equation has been obtained in order to design impulsive controller. the derived criteria show that such impulsive control relies on the proper value of designed parameters and the upper bound of impulsive intervals. Finally, the applicability of proposed strategy is given through a numerical example.

关键词： Impulsiveness discrete-time Multi-agent systems Riccati equations numerical example

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An experimental evaluation of balance strategy based obstacle avoidance

An experimental evaluation of balance strategy based obstacl...

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

作者： Ruijuan Chang Rong Ding Mengxiang Lin Dechao Meng Zeye Wu Meng Hang State Key Laboratory of Software Development Environment Beijing China Research Institute of Beihang University in Shenzhen Shenzhen China School of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (纸本)9781509035502

Optical flow plays an important role in vision-based navigation. A lot of optical flow based methods have been developed for autonomous robots. In this paper, we evaluate obstacle avoidance methods based on optical flow in synthetic and real-world scenes. Specifically, the balance strategy is chosen and five representative optical flow algorithms are used. the new metrics for obstacle avoidance performance are introduced. Our experiments demonstrate the effectiveness of the balance strategy for obstacle avoidance. Furthermore, some factors contributing to obstacle avoidance ability are studied.

关键词： Collision avoidance Robots Gratings Optical imaging Optical sensors Integrated optics Trajectory

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