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94 篇 会议

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检索条件"任意字段=21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016"

共 94 条记录，以下是11-20 订阅

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Solving the inverse dynamics of a flexible 3D robot for a trajectory tracking task 21

Solving the inverse dynamics of a flexible 3D robot for a tr...

引用

21st international conference on methods and models in automation and robotics (mmar)

作者： Lismonde, Arthur Bruls, Olivier Sonneville, Valentin Univ Liege Multibody & Mechatron Syst Lab Liege Belgium Univ Maryland Aerosp Engn College Pk MD 20742 USA

ISBN: (纸本)9781509018666

The end-effector trajectory tracking of robotic manipulators with flexible links requires advanced control concepts. In order to compute the feedforward component of the control scheme, the inverse dynamics of such flexible 3D multibody system is solved using an optimal control method. The robot is modeled using nonlinear finite elements formulated on the SE (3) group. Hence singularity and parameterization issues that can arise from 3D rotations are avoided. A numerical example of a 3D flexible arm is analyzed to demonstrate the capabilities of the method.

关键词： Numerical methods

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L¹ and L² Norms in Sensitivity Analysis of Signaling Pathway models 21

L1 and L2 Norms in Sensi...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Kardynska, Malgorzata Smieja, Jaroslaw Silesian Tech Univ Inst Automat Control Ul Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

Sensitivity methods have been originally developed for analysis of technical systems and recently have gained increasing importance in systems biology. Among others, they provide means to rank parameters of mathematical models describing complex systems, according to their influence on system behavior. Parameter rankings can be derived using different sensitivity measures. This paper is focused on two types of norms, most often used in such analysis. Using simple, illustrative dynamical models as well as models of signaling pathways, it shows how much the results of sensitivity analysis depend on the choice of the norm.

关键词： Sensitivity analysis

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Challenges in Creating Long Continuum Robots 21

Challenges in Creating Long Continuum Robots

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21st international conference on methods and models in automation and robotics (mmar)

作者： Walker, Ian D. Nahar, Dixit Verma, Siddharth Wooten, Michael B. Kapadia, Apoorva D. Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

ISBN: (纸本)9781509018666

We discuss the design and control issues in creating continuous backbone continuum robots at lengths of multiple meters. At this scale, many of the design techniques and materials properties which have proved advantageous in creating continuum robots at smaller scales are not applicable. This leads to problems with reduced load capacity and poor internal stability. Using two example cases, a thin tendril and an extensible pipe, we illustrate the issues and discuss potential successful design alternatives.

关键词： robotics continuum robot tendril design

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Mathematical models Database (MMD ver. 1.0) Non-commercial proposal for researchers 21

Mathematical Models Database (MMD ver. 1.0) Non-commercial p...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Giernacki, Wojciech Horla, Dariusz Sadalla, Talar Poznan Univ Tech Inst Control & Informat Engn PL-60965 Poznan Poland

ISBN: (纸本)9781509018666

Mathematical models Database (MMD) is an online repository of mathematical models that can be easily used for research purposes, in teaching or in performing comparative tests. In a single free-of-charge, freely accessible Internet service all the data from the database is available with an expected (in its final form) several ready-to-use models, either purely mathematical or physics-based. Apart from the models themselves there are also documents describing the background of their derivation included, references to bibliography for further reading where they have been used and numerous attachments, e.g. parts of the code, time plots, results of simulations, ready handouts, etc. Using a simple browser it is possible to constraint the search to selected classes of models. It is planned in the future to make MMD a platform where every interested researcher will be able to include their models. This should streamline the possibility of creating a single Internet site where models from a vast number of disciplines can be found, such as from the field of control engineering and robotics, electrotechnics, mechatronics, computer science, and other fields, even those not directly connected to the latter.

关键词： Database systems

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Utilization of textured stereovision for registration of 3D models of objects 21

Utilization of textured stereovision for registration of 3D ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Kornuta, Tomasz stefanczyk, Maciej Warsaw Univ Technol Inst Control & Computat Engn Nowowiejska 15-19 PL-00665 Warsaw Poland IBM Res 650 Harry Rd San Jose CA 95120 USA

ISBN: (纸本)9781509018666

RGB-D sensors triggered a rapid progress in the field of robot visual perception. A typical visual perception subsystem relies on finding the correspondences between features extracted from RGB-D images retrieved from robot sensors and models of objects. In this paper we introduce a multi-camera setup supplemented with an additional pattern projector used for registration of high-resolution images of objects. The objects are placed on a fiducial board with two dot patterns enabling robust extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system for generation of consistent 3D models of objects. We present details of the developed system and conclude the paper with discussion of the achieved results.

关键词： Graphic methods

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Evaluation of Calibration Results Using the Least Median of Squares Method in the Case of Linear Multivariate models 21

Evaluation of Calibration Results Using the Least Median of ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Buchczik, Dariusz Ilewicz, Witold Silesian Tech Univ Inst Automat Control Measurement & Control Syst Grp PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

Robust estimation procedures make it possible to reduce the leverage of outliers on the measurement results. Application of the least median of squares (LMS) method to determine the calibration curves of measuring instruments involves the need to evaluate the obtained results. This paper proposes the method of estimating the variance of the LMS regression coefficients, which allows the evaluation of the quality of the set regression coefficients. The concept of an a priori estimation consists in performing an estimation before the measurement experiment. The a posteriori estimation uses the data from the previously conducted measurement experiment, thus making it possible to obtain much more accurate results compared with the a priori method. Simulation tests were carried out in order to compare the estimation results with the ones obtained in the course of the simulated experiment. The obtained results confirm that the proposed concepts are correct.

关键词： calibration robust estimators least median of squares method

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Research of the Defects in PET Preform 21

Research of the Defects in PET Preform

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21st international conference on methods and models in automation and robotics (mmar)

作者： Laucka, Andrius Andriukaitis, Darius Markevicius, Vytautas Zilys, Mindaugas Kaunas Univ Technol Dept Elect Engn LT-51368 Kaunas Lithuania

ISBN: (纸本)9781509018666

Image technologies nowadays are used not only for keeping personal events safe, but also are widely applied in conjunction with automated electronic systems. Computer vision is widely used for inspection of the production quality in industries. Food industry is not an exception. Containers for food industry are made in very large quantities. This article contains of defect analysis of both external and side area of the bottleneck. Defects were divided into groups according to which the filters are created. For the control of PET preparation quality an automated computer vision algorithms were developed. The algorithms and methods were used for the detection of defective products mainly based on the image segmentation, digital production, erosion, smoothing. The most effective filters for the defect detection of the workpieces have been determined. It was carried out that efficiency of algorithms are close to 100 %.

关键词： PET digital image processing image segmentation computer vision smoothing methods

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SoftPOSIT Enhancements for Monocular Camera Spacecraft Pose Estimation 21

SoftPOSIT Enhancements for Monocular Camera Spacecraft Pose ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Shi, Jian-Feng Ulrich, steve Carleton Univ Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781509018666

This paper proposes several enhancements to the softPOSIT algorithm with applications to spacecraft pose estimation using a monocular camera. First, the proposed enhancements include a technique for reducing false matches as result of local minimum trapping. Second, this paper provides two strategies for iteration control parameter initialization by using the trace of the correspondence distance, and by using image centroid matching. The method of image centroid matching allows the world model center of geometry to align with the image centroid. The alignment result in reasonable correspondence weighting values used for match optimization. The various algorithm enhancements were tested on 26,180 simulations with varying geometries and initial pose conditions. Results show a significant increase in accuracy when compared with the original method.

关键词： Iterative methods

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Application of Vision Information to Planning Trajectories of Adept Six-300 Robot 21

Application of Vision Information to Planning Trajectories o...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Tadeusz, Szkodny Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

This article(1) presents the algorithms of calculations of the manipulation object coordinate position and orientation, for the planning movement of the robot Adept Six-300. Two cameras Edimax IC-7100P observe objects in the robot environment. To geometric calibration of these cameras it was used the original algorithm that does not require calculation of the projection matrix or fundamental matrix. Thanks to this used algorithm is faster and more accurate than methods with these arrays. The input of these algorithms are the coordinates of the characteristic points of the manipulation object, obtained by these two cameras. On the basis of these input data the coordinates of the position and orientation of the object seen by the cameras are calculated. For these coordinates the joint variables of the manipulator are calculated by means of the program that takes into account the singular configurations and that optimize a quality indicator. These variables describe the trajectory approaching of the gripper to the object, grasp and pick up it. All calculations are doing in external computer constituting a server that cooperates with cameras and robot controller, by means of the Ethernet.

关键词： Computer Vision for other Robotic Applications Computer Vision for automation Motion and Path Planning

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Collision-free path planning in indoor environment using a quadrotor 21

Collision-free path planning in indoor environment using a q...

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21st international conference on methods and models in automation and robotics, mmar 2016

作者： Copot, Cosmin Hernandez, Andres Mac, Thi Thoa De Keyse, Robin Department of Electromechanics Op3Mech University of Antwerp Groenenborgerlaan 171 Antwerp2020 Belgium Department of Electrical Energy Systems and Automation DySC Ghent University Ghent-Zwijnaarde9052 Belgium

ISBN: (纸本)9781509018666

This paper presents a new approach of a path planing algorithm applied in an indoor environment. Path planning or motion planning is an essential part of navigating mobile agents. The goal of path planning is to specify a collision-free trajectory between the start state and the goal state for a mobile agent. The estimation of the absolute position inside the testing environment is performed based on visual ground patterns and image processing technique. A graph search algorithm, A-, find the shortest path considering not only a distance cost but also an additional cost function for controlling the safety. An illustrative example of a quadrotor is used to evaluate the robustness of algorithm. © 2016 IEEE.

关键词： Motion planning

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