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Paddle Juggling of one Ball by Robot Manipulator with Visual Servo

Paddle Juggling of one Ball by Robot Manipulator with Visual...

引用

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

作者： Akira Nakashima Yoshiyasu Sugiyama Yoshikazu Hayakawa Department of Mechanical Science and Engineering Graduate School of Engineering University of Nagoya Nagoya Japan

this paper proposes a method to achieve paddle juggling of a ball by a racket attached to a robot manipulator with two visual camera sensors. the proposed method is composed of juggling preservation problem and ball regulation problem. the juggling maintenance problem means going on hitting the ball iteratively. the ball regulation problem means regulating the position and orientation of the hit ball. the juggling preservation problem is achieved by the tracking control of the racket position for a symmetry trajectory of the ball with respect to a horizontal plane. the ball regulation problem is achieved by controlling the racket orientation, which is determined based on a discrete transition equation of the ball motion. the effectiveness of the proposed method is shown by an experimental result

关键词： Manipulators Servomechanisms Cameras Iterative algorithms Robot vision systems Open loop systems Robot sensing systems Trajectory Motion control Equations

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Stability Analysis for Time-Delay Hamiltonian Systems

Stability Analysis for Time-Delay Hamiltonian Systems

引用

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

作者： Weiwei Sun Yuzhen Wang Gang Feng School of Control Science and Engineering Shandong University Jinan China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

this paper investigates the asymptotically stability and robust stability for time-delay Hamiltonian systems. First, the asymptotical stability of two classes of time-delay Hamiltonian systems is studied and some sufficient conditions are derived based on the Lyapunov-Krasovskii (L-K) approach. then, the robust stability is investigated for polytypic uncertain time-delay Hamiltonian systems, which possesses time-invariant uncertainties belonging to some convex bounded polytypic domain. Finally, several illustrative examples are studied to support the new results proposed in this paper

关键词： Stability analysis Power system stability control systems Robust stability Asymptotic stability Power system control Sufficient conditions Uncertainty Delay effects Power systems

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A Novel MRF-Based Image Segmentation Algorithm

A Novel MRF-Based Image Segmentation Algorithm

引用

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

作者： Yimin Hou Lei Guo Xiangmin Lun Department of Automation Northwestern Polytechnical University Xi'an China Mechanics of Cas Xi''an Institute of Optics and Precision Mechanics Xi'an China

Proposed a novel image segmentation method based on Markov random field (MRF) and context information. the method introduces the relationships of observed image intensities and distance between pixels to the traditional neighborhood potential function, so that to describe the probability of pixels being classified into one class. We transform the segmentation process to maximum a posteriori (MAP) by Bayes theorem. Finally, the iterative conditional model (ICM) is used to solve the MAP problem. In the experiments, this method is compared with traditional expectation-maximization (EM) and MRF image segmentation techniques using synthetic and real images. the experiment results and SNR-CCR histogram show that the algorithm proposed is more effective for noisy image segmentation.

关键词： Image segmentation Pixel Markov random fields Iterative algorithms automation Optical filters Content addressable storage Context-aware services Histograms Signal to noise ratio

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Robust Adaptive Output Feedback control of MIMO Systems Using Multirate Sampling

Robust Adaptive Output Feedback Control of MIMO Systems Usin...

引用

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

作者： Ikuro Mizumoto Satoshi Ohdaira Makoto Kumon Zenta Iwai Department of Mechanical System Engineering Kumamoto University Kumamoto Japan

In adaptive output feedback control based on almost strictly positive real (ASPR) conditions, a technical difficulty arises when the controlled multi-input multi-output (MIMO) system is non-square. To overcome this, the idea of multirate sampled-data control has been proposed. that is, through careful choice of faster input sampling rates create a lifted discrete-time system which has the same number of inputs and outputs and does not give rise to the causality constraint. the output feedback based adaptive control strategy can then be applied to this lifted system under certain conditions. In this report, we propose a robust adaptive controller design scheme for non-square MIMO systems using the multirate sampling strategy without the causality problem

关键词： Robust control Programmable control Adaptive control Output feedback control systems MIMO Sampling methods Automatic control Discrete time systems Mechanical systems

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3D Object Localization Using Local Shape Features

3D Object Localization Using Local Shape Features

引用

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

作者： Md Saiful Islam Andrzej Sluzek School of Computer Engineering NTU Singapore SWPS Poland

this paper proposes a method to localize a 3D object in cluttered environment. Model of the object is represented by local shape features, computed from some reference images. Localization is performed by stereo images captured simultaneously by a pair of calibrated cameras. First the object is recognized in both images, using the local shape features. then common features are used for reconstruction of the 3D position of the object. the proposed localization method is robust to different kinds of geometric and photometric transformations in addition to cluttering, partial occlusions and background changes. the accuracy and efficiency of the method is good enough for many practical applications

关键词： Shape Object detection Stereo vision Object recognition Cameras Data mining Feature extraction Rendering (computer graphics) Multidimensional systems Image recognition

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Mechanical Component Dimension Tolerance and Damping Effect on controller

Mechanical Component Dimension Tolerance and Damping Effect ...

引用

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

作者： Feng Gao Kelvin Ang Hitachi GST Singapore Private Limited Singapore

In HDDs, there are some notch filters which are used to compensate mechanical high frequency vibration from components. A range of error-rejection transfer function within the servo control loop is employed to depress such vibration. the advantage of such approach is to improve data rate performance. Two major factors associated with each frequency, that is, phase and gain. Due to many sub-components, such as HGA, carriage, pivot and VCM, etc., any condition change, such as dimension, young modulus, temperature, will change transfer function frequency and phase. In this paper, a specified error rejection gain induced failure drives are studied to analyze effect of mechanical component tolerance and damping effect on controller effectiveness

关键词： Damping Frequency Error correction Transfer functions Filters Servosystems Vibration control Young's modulus Temperature Failure analysis

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Optimal Fusion Reduced-Order Kalman Filters Weighted by Scalars for Stochastic Singular Systems

Optimal Fusion Reduced-Order Kalman Filters Weighted by Scal...

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

作者： Shuli Sun Jing Ma Wendong Xiao Department of Automation Heilongjiang University Harbin China Media Processing Department Institute for Infocomm Research Singapore

Based on the optimal fusion algorithm weighted by scalars in the linear minimum variance sense, a distributed optimal fusion reduced-order Kalman filter with scalar weights is presented for discrete-time stochastic singular systems with multiple sensors and correlated noises. It has higher accuracy than any local filter does. Compared with the distributed fusion filter weighted by matrices, it has lower accuracy but has reduced computational burden. Computation formula of cross-covariance matrix of the filtering errors between any two sensors is given. An example with three sensors shows the effectiveness

关键词： Stochastic systems Sensor fusion Nonlinear filters Stochastic resonance Sensor systems Filtering Chemical sensors Maximum likelihood estimation White noise Noise reduction

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Nonfragile Guaranteed Cost control for Nonlinear Discrete-Time Systems with Time-Varying State Delay

Nonfragile Guaranteed Cost Control for Nonlinear Discrete-Ti...

引用

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

作者： Nan Xie Gong-You Tang School of Computer Science and Technology Shandong University of Technology Zibo China College of Information Science and Engineering Ocean University of China Qingdao China

this paper concerns the nonfragile guaranteed cost control problem for a class of nonlinear discrete-time dynamic systems with time-varying state delay and controller gain perturbations. the problem is to design a memoryless state feedback control law such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties. Guaranteed cost control law is designed under two classes of perturbations, namely, additive form and multiplicative form. Some delay-dependent conditions for the existence of such controller are derived. A numerical example is given to illustrate the proposed method

关键词： Nonlinear control systems control systems Time varying systems Delay Uncertainty Robust control Paper technology State feedback Cost function Upper bound

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Smooth Transition from Motion to Force control in Robotic Manipulation Using vision

Smooth Transition from Motion to Force Control in Robotic Ma...

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

作者： Olli Alkkiomaki Ville Kyrki Heikki Kalviainen Yong Liu Heikki Handroos Laboratory of Information Processing Lappeenranta University of Technology Lappeeranta Finland Laboratory of Mechatronics and Virtual Design Lappeenranta University of Technology Lappeeranta Finland

Sensor-based robotic manipulation is becoming more and more popular as it promises increases in productivity, flexibility, and robustness of manipulation. Combining visual and force sensing is currently one of the most promising approaches for sensor-based manipulation, as vision and force are two complementary sensing modalities. One approach for multi-sensor use is the traded control where the robot is at each time controlled using one sensing modality, and the controllers are switched based on sensory input. One of the major problems with such systems is the transition between visual and force controllers. In this paper, we present a smooth transition method from motion to force control. the velocity of the end-effector is controlled by estimating the distance to the target by vision and determining an optimal velocity profile giving rapid approach and minimal force overshoot. Experiments show that the proposed control scheme is superior to earlier approaches

关键词： Force control Robot vision systems Robot sensing systems Force sensors Productivity Robustness Robot control control systems Optimal control Velocity control

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Minimum Parking Maneuvers for Articulated Vehicles with One-Axle Trailers

Minimum Parking Maneuvers for Articulated Vehicles with One-...

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

作者： Dieter Zobel Elisabeth Balcerak thorsten Weidenfeller Fachbereich Informatik Universitat Koblenz-Landau Koblenz Germany Institut fur Softwaretechnik Universitat Koblenz-Landau Koblenz Germany

the kinematic behavior of articulated vehicles is complex and hard to control. this coincides with the perception of unskilled drivers, e.g., when they back up their car and the attached caravan. An integrated semi-automated driving assistance system would be very convenient for such situations. the realization of a system for backup assistance raises questions ranging from the theory of kinematics to the human-machine interaction. In this paper we focus on the fundamental question of the minimum maneuver for parallel parking. this question is discussed from its theoretical background to the practical integration into a respective assistance system

关键词： Kinematics Vehicle driving Remotely operated vehicles Man machine systems Automatic control Vehicle safety Trajectory Cities and towns Size measurement Turning

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