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Robot Mapping with Range camera, CCD Cameras and thermal Imagers 19

Robot Mapping with Range camera, CCD Cameras and Thermal Ima...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Burian, Frantisek Kocmanova, Petra Zalud, Ludek Brno Univ Technol CEITEC CS-61090 Brno Czech Republic LTR Sro Brno Czech Republic

ISBN: (纸本)9781479950812

this paper describes a multispectral data fusion system for real-time telepresence and digital mapping applicable in reconnaissance robotics. the system was developed by our team for CASSANDRA, a robotic group comprising several robots with different features controllable from a single operator station. Special emphasis is put on cooperative mapping and problems arising from the fact that each robot has distinct sensors and computing capabilities;at the same time, however, it is important to stress that all the robots can supply valuable data to the global map. the system is currently able to process distance data, color data, and thermal information, but it is also prepared for extension such that other parts of the electromagnetic spectrum (e.g., the near infrared region) or mission-specific (e.g., radiation) data can be easily added to the map. the fusion quality and map features were studied both theoretically and via field experiments. the data acquisition is performed using a sensor head placed on an Orpheus-X3 robot;both the head and the robot were developed by our working group. the head contains five matrix sensors: a pair of CCD cameras, a pair of thermal imagers, and one TOF camera.

关键词： CCD image sensors image colour analysis image fusion multi-robot systems path planning robot vision CASSANDRA robotic group CCD camera Orpheus-X3 robot charge-coupled device camera color data processing cooperative mapping digital mapping applicable distance data processing electromagnetic spectrum multispectral data fusion system range camera real-time telepresence reconnaissance robotics robot mapping thermal imagers thermal information processing Calibration Cameras Charge coupled devices Robot vision systems Charge Coupled Device camera Electromagnetic spectrum robot vision system Robot CCD image sensors Cameras thermal imager Charge coupled devices multi-robot systems image colour analysis robot vision image fusion Path planning imaging instrument MAPPING(MAthEMATICAL)

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Workspace Mapping and Control of a Teleoperated Endoscopic Surgical Robot 19

Workspace Mapping and Control of a Teleoperated Endoscopic S...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Khalifa, Alaa Ramadan, Ahmed Ibrahim, Khalil Fanni, Mohamed Assal, Samy Abo-Ismail, Ahmed Egypt Japan Univ Sci & Technol Dept Mechatron & Robot Engn Alexandria Egypt Tanta Univ Comp & Automat Control Engn Tanta Egypt Assiut Univ Fac Engn Dept Mech Engn Assiut Egypt

ISBN: (纸本)9781479950812

this paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. the 4-DOF, 2-PUU_2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. the master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. the experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.

关键词： bending control system synthesis endoscopes manipulator kinematics medical robotics motion control surgery telerobotics three-term control 2-PUU 2-PUS 4-DOF parallel manipulator PHANTOM omni haptic device PID controller bending angles controller design endoscopic surgical parallel manipulator design kinematics master device parallel virtual chain methodology rate control screw theory slave device slave robot slave workspace teleoperated endoscopic surgical manipulator system teleoperated endoscopic surgical robot control teleoperation system workspace mapping technique workspace volumes Haptic interfaces Joints Kinematics Manipulators Surgery Switches Motor Control kinematics Robot three term control systems BENDING ANGLE Surgery Proportional Integral Derivative Control Haptic interfaces Robot kinematics Telerobots medical robotics control system synthesis controller design rate control Workplace

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Heuristic to tune the compensation gain of modeling uncertainties through the robust multi inversion 19

Heuristic to tune the compensation gain of modeling uncertai...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Silva, Fernando P. Leite, Valter J. S. Nepomuceno, Erivelton G. PPGEL Belo Horizonte MG Brazil CEFET MG BR-35503822 Divinopolis MG Brazil Univ Fed Sao Joao del Rei BR-36307352 Sao Joao del Rei MG Brazil

ISBN: (纸本)9781479950812

In this paper, it is studied a proposal of control signal compensation of nonlinear systems under feedback linearization. An important problem in this context appears when the nonlinear system has differences (or uncertainties) with respect to the nonlinear nominal model used to design the feedback linearization control law. In this case, the practical system in closed-loop can become even unstable. However, a solution proposed in the literature to compensate these differences does not have indications of how to get the gain of the compensation loop. the main contributions of this paper consist in a proposal to determine such a gain and in the investigation of the application of this new control topology in a nonlinear model of a omnidirectional robot. this study of case illustrates that our proposal allows determining compensation gain that leads the the closed-loop system to a better performance.

关键词： closed loop systems compensation control system synthesis feedback linearisation techniques nonlinear control systems robust control topology uncertain systems closed-loop system compensation gain compensation loop control signal compensation control topology feedback linearization control law design nonlinear model nonlinear nominal model nonlinear systems omnidirectional robot robust multiinversion uncertainties modeling Control systems Mathematical model Nonlinear systems Proposals Robots Robustness Uncertainty Closed loop systems Nonlinear systems compensated linearization techniques Nonlinear models control system synthesis Nonlinear control systems uncertain systems Robot control systems Robust control topology Feedback Mathematical Model feedback linearization control

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Automatic Generation of Implementation in SysML-based Model-Driven Development for IEC 61131-3 Control Software 19

Automatic Generation of Implementation in SysML-based Model-...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Jamro, Marcin Rzeszow Univ Technol Dept Comp & Control Engn PL-35959 Rzeszow Poland

ISBN: (纸本)9781479950812

Control software is commonly used in various branches of industry. Its still increasing size and complexity indicates that it is crucial to propose various development processes that could make the work easier and faster. In this paper, the Model-Driven Development approach is presented, together with the mechanism of automatic generation of implementation, dedicated to projects created according to the IEC 61131-3 standard. the modeling phase uses the SysML graphical modeling language. the prepared model is analyzed by the dedicated mechanism, which creates the ordered list of operations that should be performed in the implementation. After their sequential execution, engineers receive the implementation part with automatically generated elements. this paper covers topics of generating templates for Program Organization Units, as well as complete implementation for ones that are based on state machines. To make understanding of the presented approach easier, the paper uses the simple running example. the expanded version of the mechanism of automatic implementation generation has been introduced into the CPDev engineering environment for programming various industrial controllers.

关键词： IEC standards control engineering computing software engineering visual languages CPDev engineering environment IEC 61131-3 control software IEC 61131-3 standard SysML graphical modeling language SysML-based model-driven development dedicated mechanism industrial controllers model-driven development approach program organization units Computational modeling Engines Reactive power Software Unified modeling language IEC publications control engineering computing visual languages UML autogeneration Engines Reactive power computer software Computational modeling Software engineering computer programs PROCESS DEVELOPMENT international Electrotechnical Commission

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Innovative Approach in Analysis of EEG and EMG Signals - Comparision of the Two Novel methods 19

Innovative Approach in Analysis of EEG and EMG Signals - Com...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Kawala-Janik, Aleksandra Podpora, Michal Baranowski, Jerzy Bauer, Waldemar Pelc, Mariusz Opole Univ Technol Fac Elect Engn Automat Control & Informat PL-45756 Opole Poland AGH Univ Sci & Technol Fac Elect Engn Automat Comp Sci & Biomed Engn PL-30059 Krakow Poland Univ Greenwich Old Royal Naval Coll Sch Comp & Math Sci London SE10 9LS England

ISBN: (纸本)9781479950812

In this paper comparison of the two innovative signal processing methods for analysis of both EEG and EMG biomedical signals is in short presented. the reason for that is caused by the fact, that nowadays the broad analysis of various biomedical signals is extremely popular. the first method presented in this paper relies on kernel density estimators application. Implementation of such method enables construction of densitograms for the examined bio-signals. One of the biggest advantages of this method is that it allows to obtain statistically filtered signals, which results in making the whole signal processing task significantly quicker. the second method described in this paper is based on basic mathematical operations only. Despite its simplicity the whole process can be implemented on almost any hardware platform, including those with very limited computational capabilities. Also it makes the task quick. In accordance with the conducted experiments - the method is also efficient and as it can also be implemented on embedded platform and the algorithm can be rewritten in any programming language, the potential application of this method is wide.

关键词： electroencephalography electromyography medical signal processing EEG biomedical signal EMG biomedical signal densitogram kernel density estimator signal processing method Educational institutions Electrodes Electroencephalography Electromyography Hardware Headphones Signal processing Electroencephalography Electromyogram signal processing headsets medical signal processing Educational institutions Computer hardware Electrodes signals embedded platform

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Finite Element Modeling for Heat Transfer Processes Using the Method of Integro-Differential Relations with Applications in Control Engineering 19

Finite Element Modeling for Heat Transfer Processes Using th...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Kersten, Julia Rauh, Andreas Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781479950812

Control design of spatially distributed thermal systems is a task that is necessary for a large variety of engineering applications. Early lumping techniques, that are applicable in this case, follow the methodology of first discretizing the infinite-dimensional system model and subsequently using the discretized model for a finite-dimensional control design. For that purpose, the governing partial differential equations are commonly reduced to a finite-dimensional set of ordinary differential equations. In this paper, the corresponding task is solved by an optimization-based version of the Method of Integro-Differential Relations (MIDR). On the one hand, the MIDR allows one to quantify and systematically influence the approximation quality and, on the other hand, to use the resulting models directly for control and state observer design. In the following, the MIDR is applied to a fundamental problem of linear heat transfer in tube-like structures for which cylindrical coordinates are a suitable choice for modeling the dynamic behavior in all three space directions. Illustrative simulation results of fundamental control and state estimation approaches conclude this paper. these simulation results serve as the basis for a future experimental validation of the presented modeling techniques on a laboratory test rig that is currently being built up at the Chair of Mechatronics at the University of Rostock.

关键词： approximation theory control engineering control system synthesis finite element analysis heat transfer integro-differential equations multidimensional systems observers optimisation partial differential equations MIDR approximation quality discretized model dynamic behavior modeling finite element modeling finite-dimensional control design finite-dimensional set fundamental control heat transfer processes infinite-dimensional system model linear heat transfer lumping techniques method of integro-differential relations optimization-based version ordinary differential equations spatially distributed thermal systems state estimation approaches state observer design tube-like structures Approximation methods Boundary conditions Heat transfer Heating Mathematical model Polynomials Temperature distribution

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Power law and fractional derivative models can measure analgesia

Power law and fractional derivative models can measure analg...

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2014 19th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2014

作者： Ionescu, Clara Mihaela Dana Ionescu, Florina Technical University of Cluj-Napoca Faculty of Automation and Computers Str. G. Baritiu nr. 26-28 400027 Cluj-Napoca Romania Technical University of Construction Faculty of Civil Agricultural and Industrial Engineering Blvd Lacul Tei 122-124 38R0-020396 Bucharest Romania

ISBN: (纸本)9781479937318

It is known that the human brain reacts favorably to whatever it perceives as beautiful. It is also equally known that beauty is in fact an ideal symmetry in the objects, phenomena and natural processes of any kind. Using this insight, we have shown that patterns can be build to represent the human body in a concise, structural and geometrical form. In this paper we use the same insights to deduct the process of brain activation to mechanical stimuli of the skin receptors. this work is aimed to discuss the understanding of the pain transmission process in the body using tools from mathematics, i.e. fractional calculus. © 2014 IEEE.

关键词： Calculations

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Observer-Based Real-Time Frequency Analysis for Combustion Engine-Based Power Trains with Applications to Identification and Control 19

Observer-Based Real-Time Frequency Analysis for Combustion E...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Rauh, Andreas Ehret, Juliane Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781479950812

the typical motion of a combustion engine, such as the four-stroke Otto engine, is characterized by a periodic variation of its torque over the rotation angle of the driven shaft. this torque variation leads to the effect of time-varying accelerations and angular velocities. Modeling approaches for combustion engines that can be used for the implementation of control strategies for corresponding engine test rigs can follow two different approaches. Firstly, it is possible to describe the torque variations on the basis of the thermodynamic processes in the interior of the cylinder. Secondly, black box models can be derived on the basis of a frequency analysis of the measured torque and/or the measured angular velocities and accelerations. Especially, black box models belonging to the second class are sufficient if a synchronization of a combustion engine with an electric motor/generator unit acting on the same driven shaft is desired. However, classical frequency analysis techniques such as the Fast Fourier Transform are usually only applicable offline. therefore, an online-applicable observer approach is developed in this paper which allows for the real-time frequency analysis of measured angular velocities. the estimation results, for both stationary and non-stationary operating points, are then applied on the one hand for a system identification and on the other hand for the implementation of control strategies in the framework of combustion engine test rigs. A numerical stability analysis and experimental results conclude this paper.

关键词： Otto cycle angular measurement electric motors fast Fourier transforms internal combustion engines numerical stability observers shafts torque velocity measurement angular velocities angular velocity measurement black box models combustion engine synchronization combustion engine test rigs control strategies driven shaft electric generator unit electric motor unit fast Fourier transform four-stroke Otto engine frequency analysis techniques modeling approaches nonstationary operating point numerical stability analysis observer-based real-time frequency analysis online-applicable observer approach power trains system identification thermodynamic processes time-varying accelerations Angular velocity Engines Ice Observers Shafts Torque Vectors ANGULAR VELOCITY Torque Fast Fourier transform SHAFT combustion engine Powertrain thERMODYNAMIC PROCESSES control strategy angular velocity measurement Otto cycle Angle measurement Observers System identification Electric motors Frequency analysis

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Study of mesh generation for complex geometries

Study of mesh generation for complex geometries

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26th international conference on Parallel Computational Fluid Dynamics, ParCFD 2013

作者： Cui, Dongliang Wang, Bowen Li, Meng State Key Laboratory of Synthetical Automation for Process Industries Shenyang 110819 China Liaoning Province Key Laboratory of Multidisciplinary Optimal Design for Complex Equipment Shenyang 110819 China College of Science Northeastern University Shenyang 110819 China

ISBN: (纸本)9783642539619

As the crucial step of FEM, mesh generation has a great influence on the accuracy and efficiency of CAE results. Because products in engineering are of complex geometric models and they are always applied in sophisticated environment, the CAE analysis of them becomes more and more challenging, which in turn calls for more attention paid to the accuracy and efficiency of mesh generation. Based on the research of metric methods, this paper proposes an adaptive meshing approach from the view of engineering. ALPHA system developed by researchers in Northeastern University applies these technologies to mesh generation and product analysis. Experiment mesh generated by ALPHA system are presented and comparisons with ANSYS are made to attest the accuracy and efficiency of ALPHA system, results show that the method proposed in this paper is of great efficiency and quite applicable. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Mesh generation

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Vision based motion estimation of obstacles in dynamic unstructured environments 9

Vision based motion estimation of obstacles in dynamic unstr...

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9th international conference on Informatics in Control automation and robotics, ICINCO 2012

作者： Vatavu, Andrei Nedevschi, Sergiu Computer Science Department Technical University of Cluj-Napoca 26-28 G. Baritiu Street Cluj Napoca Romania

ISBN: (纸本)9783319034997

Modeling static and dynamic traffic participants is an important requirement for driving assistance. Reliable speed estimation of obstacles is an essential goal especially when the surrounding environment is crowded and unstructured. In this chapter we propose a solution for real-time motion estimation of obstacles by using the pairwise alignment of object delimiters. Instead of involving the whole 3D point cloud, more compact polygonal models are extracted from a classified digital elevation map and are used as input data for the alignment process. © Springer international Publishing Switzerland 2014.

关键词： Motion estimation

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