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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5310 条记录，以下是4921-4930 订阅

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control Barrier Function Based Nonlinear controller for Automatic Carrier Landing

Control Barrier Function Based Nonlinear Controller for Auto...

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

作者： Haitong Zhou Zewei Zheng Zhiyuan Guan Yunpeng Ma Seventh Research Division School of Automation Science and Electrical Engineering Beihang University Beijing China School of Aeronautic Science and Engineering Beihang University Beijing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper proposes a novel control barrier function(CBF) based output constraints path following control method, which is applied to automatic carrier landing system. the 6 degrees-of-freedom of aircraft model is converted to an affine model. Based on the transformed affine model, backstepping is used as the main control frame. In order to meet the demand of output constraints, a novel controller based on CBF is designed to constrian path following error. Due to automatic carrier landing system's relative-degree is 4, the exponential control barrier function(ECBF) which constrian path following error is adopted. the stability of the designed controller is verified by Lyapunov analysis. Simulation results show that the error requirement for path following in the final approach can be achieved, so the controller we designed has good path following performance.

关键词： Atmospheric modeling Aircraft Safety Mathematical model Robots Attitude control Two dimensional displays

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Brain-Computer Interface for high-level control of rehabilitation robotic systems

Brain-Computer Interface for high-level control of rehabilit...

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IEEE international conference on Rehabilitation robotics (ICORR)

作者： Diana Valbuena Marco Cyriacks Ola Friman Ivan Volosyak Axel Graser Institute of Automation University of Brethemen Bremen Germany

In this work, a brain-computer interface (BCI) based on steady-state visual evoked potentials (SSVEP) is presented as an input device for the human machine interface (HMI) of the semi-autonomous robot FRIEND II. the role of the BCI is to translate high-level requests from the user into control commands for the FRIEND II system. In the current application, the BCI is used to navigate a menu system and to select commands such as pouring a beverage into a glass. the low-level control of the test platform, the rehabilitation robot FRIEND II, is executed by the control architecture MASSiVE, which in turn is served by a planning instance, an environment model and a set of sensors (e.g., machine vision) and actors. the BCI is introduced as a step towards the goal of providing disabled users with at least 1.5 hours independence from care givers.

关键词： Brain computer interfaces Robot control control systems Rehabilitation robotics Steady-state Humans Navigation Glass Testing Robot sensing systems

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vision-based control Approach for Generalized Planar Parallel Robots

Vision-based Control Approach for Generalized Planar Paralle...

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automation, control and robotics Engineering (CACRE), international conference on

作者： Xueling Luo Xiaodong Jin Dan Zhang Qi Zou Department of Mechanical Engineering York University Department of Mechanical Engineering Beijing Jiaotong University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Generalized parallel mechanisms become the refinement research result of the parallel mechanism study to overcome limits such as small rotational performance or low task specificity of traditional parallel mechanisms. Towards an effective control scheme for generalized parallel mechanisms is the key to promoting its future application. this paper is dedicated to visual-based control modelling of planar parallel robots. To overcome the challenge of end-effect pose estimation for the parallel mechanism, the control scheme is able to minimize the error of the end-effect of the mechanism through information obtained from a fixed visual system. the simulation and experiment results show the time efficiency and accuracy of the proposed control scheme that able to stabilize the system in a short time during the motion control.

关键词： vision-based control scheme generalized parallel mechanisms 3D pose measurement motion control

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A Model-Based Approach for Remote Development of Embedded Software for Object Avoidance Applications

A Model-Based Approach for Remote Development of Embedded So...

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international conference on Autonomous Robots and Agents, ICARA

作者： Roman Beneder Patrick Schmitt Clemens Környefalvy Department of Electronic Engineering UAS Technikum Wien Vienna Austria

the research and development of digital control sys-tems, embedded software and precise sensor measurement within the field of automated and autonomous robotics applications has increased significantly within the last decade. Based on these developments very complex, compute-intense tasks with real-time constraints in combination with Artificial Intelligence capabilities prepared the way for a new application field - so called “new aviation”. Within this research field various topics of robotics, embedded systems, power systems and vision systems play an important role. Moreover, the system developers and researchers within this industry need a profound knowledge in every technical discipline. this paper mainly focuses on tasks within the field of indoor navigation. this area of application can be utilized for logistics, maintenance and service tasks. the most important topic of indoor navigation tasks is the location determination and the orientation with no GPS position available. this paper introduces a model-based approach for remote development of embedded software for indoor object avoidance applications. this model-based approach helps to reduces the complexity of the implementation of multicore microcontroller applications with real-time constraints, which post-processes vision sensor data and utilizes them to automatically and au-tonomously orientate itself within an indoor environment.

关键词： Multicore processing Microcontrollers Indoor navigation vision sensors Robot sensing systems Real-time systems Indoor environment

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Stability analysis and simulation of a two DOF robotic system based on linear control system

Stability analysis and simulation of a two DOF robotic syste...

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international conference on Mechatronics and Machine vision in Practice (M2VIP)

作者： Imran S. Sarwar Afzaal M. Malik Department of Mechanical Engineering National University of Science and Technology Rawalpindi Pakistan

the ability to identify and follow a moving object is not only important for human activities, but it is also critical necessity in the use of robots for automation and manufacturing, security applications, and for life sciences. this achieved by using the pan and tilt mechanism with camera. the paper deals with the stability analysis and simulation of two degree of freedom (DOF) robotic system for positioning or aiming a device based on linear model. the 2-DOF robotic system is formed by combining tilt mechanism with pan mechanism. the stability analysis of the pan and tilt mechanism is performed before designing the motion controllers for the 2-DOF robotic system. the state space model and transfer function of the pan and tilt mechanisms were determined. For this purpose dynamical model of pan and tilt mechanisms was determined by using Newton-Euler equation. To perform the analysis and simulation, all the parameters involved in the system dynamics were identified. the robotic system has two degrees of freedom due to tilt and pan mechanisms. Here tilt mechanism has one revolute joint and pan mechanism has also one revolute joint. the objective of this research work is to derive motion controllers for the pan and tilt mechanisms. these controllers make possible for camera to point in a desired direction within allowable specifications. the lead compensators are used as motion controllers to meet the desired specification. the feedback control system is used with lead compensator for the position control of the pan and tilt mechanism in this paper. the advantage of lead compensator is that it can be implemented using passive network.

关键词： Stability analysis Analytical models control system synthesis robotics and automation Orbital robotics Motion control Manufacturing automation Robot vision systems Cameras Automatic control

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Model Predictive control Based On Spider monkey optimization Algorithm of Interleaved Parallel Bidirectional DC-DC Converter

Model Predictive Control Based On Spider monkey optimization...

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

作者： Yueyang Lan Qihong Chen Liyan Zhang Rong Long School of Automation Wuhan University of Technology Wuhan China Huazhong Agricultural University Wuhan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Taking the high real-time performance, good stability and high reliability of DC-DC converter in electric vehicles as the research target, a constrained model predictive control (MPC) based on spider monkey optimization algorithm was proposed. Taking the Buck mode for an example, the equivalent circuit model is obtained under different switching states, and the state space model is established, then the prediction model is established through discretization. Define the appropriate cost function according to the control requirements and add the constraints of the control variables. the spider monkey optimization algorithm(SMO) is introduced to solve optimization problem of the constrained MPC in order to get the optimal solution more quickly and accurately. the simulation was carried out by MATLAB/Simulink, and the simulation results of PI control, MPC based on Particle Swarm Optimization(PSO-MPC) and SMO-MPC was compared. the simulation show that the converter using MPC has better control effect, and SMO is feasible and effective.

关键词： Mathematical model Predictive models Prediction algorithms Switches Heuristic algorithms DC-DC power converters Topology

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Consensus of Second-order Matrix-weighted Multi-agent Networks

Consensus of Second-order Matrix-weighted Multi-agent Networ...

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

作者： Chongzhi Wang Lulu Pan Dewei Li Haibin Shao Yugeng Xi Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper investigates consensus problem of second-order multi-agent system on matrix-weighted networks. It is shown that when the null space of the Gauge transformed graph Laplacian is spanned by the Kronecker product of an all-one vector and a set of orthogonal vectors, the algebraic multiplicity of eigenvalue zero cannot exceed the nullity of the graph Laplacian, thus admitting a proper blocking of the system matrix's Jordan normal form. Second-order bipartite consensus is thereby achieved independent of the structural balance of the network. Simulation examples are provided to demonstrate the theoretical results.

关键词： Laplace equations Symmetric matrices Null space Eigenvalues and eigenfunctions Multi-agent systems Convergence Dynamical systems

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Consensus Kalman Filtering for Sensor Networks Based on FDI Attack Detection

Consensus Kalman Filtering for Sensor Networks Based on FDI ...

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

作者： Jiali Hao Ya Zhang School of Automation Southeast University and with Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies the consensus Kalman filtering algorithm with distributed attack detection for reducing the effects of false data injection attacks in wireless sensor networks. the FDI attacks are randomly injected into communication channels or sensors with certain probabilities, which undermines the accuracy of the transmission data and the accuracy of measurement data respectively. χ 2 detector is applied, and if the received data is determined to be attacked, it is omitted in consensus Kalman filtering. It is proved that if the FDI attack is randomly injected into communication channels, under the consensus Kalman filtering algorithm with adaptive weighting protocol and attack detection, the estimation errors of the sensor network can be bounded in probability. If the FDI attack is randomly injected into sensors, a probability condition on the attacks is given to guarantee the estimation errors of the sensor network bounded in mean square sense. Numerical simulations are conducted to demonstrate the performance of the proposed algorithms.

关键词： Covariance matrices Kalman filters State estimation Wireless sensor networks Robot sensing systems Distributed databases Detectors

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Redundancy Concepts for Real-Time Cloud- and Edge-based control of Autonomous Mobile Robots

Redundancy Concepts for Real-Time Cloud- and Edge-based Cont...

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IEEE international Workshop on Factory Communication Systems (WFCS)

作者： Jan Nouruzi-Pur Jens Lambrecht the Duy Nguyen Axel Vick Jö rg Krü ger Autonomous Mobile Robotics &#x0026 AI Gestalt Robotics GmbH Berlin Germany Division Automation Technology Fraunhofer IPK Berlin Germany

Deploying navigation algorithms on an edge or cloud server according to the Software-as-a-Service paradigm has many advantages for autonomous mobile robots in indus-trial environments, e.g. cooperative planning and less onboard energy consumption. However, outsourcing corresponding real-time critical control functions requires a high level of reliability, which cannot be guaranteed either by modern wireless networks nor by the outsourced computing infrastructure. this work introduces redundancy concepts, which enable real-time capability within these uncertain infrastructures by providing redundant computation nodes, as well as robot-controlled switching between them. Redundancies can vary regarding their physical location, robot behavior during the switchover process and degree of activeness while quality of service concerning the primary controller is sufficient. In the case that fallback redun-dancies are not continuously active, when a disturbance occurs an initial state estimation of the robot pose has to be provided and an activation time has to be anticipated. To gain some insights on expected behavior, redundant computation nodes are deployed locally on the robot and on an outsourced computation node and consequently evaluated empirically. Quantitative and qualitative results in simulation and a real environment show that redun-dancies help to significantly improve the robot-trajectory within an unreliable network. Moreover, resource-saving redundancies, which are not continuously active, can robustly take over control by using an estimated state.

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Comparison of camera-based and 3D LiDAR-based place recognition across weather conditions

Comparison of camera-based and 3D LiDAR-based place recognit...

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

作者： Kamil Żywanowski Adam Banaszczyk Michał R. Nowicki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Place recognition based on camera images provides excellent results on benchmarking datasets but might struggle in real-world adverse weather conditions like direct sun, rain, fog, or just darkness at night. In automotive applications, the sensory setups include 3D LiDARs that provide information complementary to cameras. the presented article focuses on the evaluation of camera-based, LiDAR-based, and joint camera-LiDAR-based place recognition. the processing for all data inputs is performed using a similar architecture of a neural network and is evaluated under varying weather conditions using the newly available USyd dataset. the experiments performed on the same trajectories in diverse weather conditions over 50 weeks prove that a 16-line 3D LiDAR can be used to supplement image-based place recognition to increase its performance. this proves that there is a need for more research into place recognition performed with multi-sensory setups.

关键词： Laser radar three-dimensional displays Cameras Meteorology Training Pipelines Image recognition

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