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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Design parametrization for dynamically similar delayed teleoperation systems 1

引用

6th international conference on informatics in control automation and robotics, ICINCO 2009

作者： Olguín-Díaz, Ernesto Parra-Vega, Vicente García-Valdovinos, Luis G. De Paul García-Alvizu, Vicente Robotics and Advanced Manufacturing Division CINVESTAV Saltillo Mexico Centro de Ingenieŕia y Desarrollo Industrial CIDESI Queŕetaro Mexico

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

Bilateral teleoperation system are prone to instability coming out from the time-delay introduced by the indeterministic communication channel. This problem has been subject of intensive research under the assumption of non-equal master-slave teleoperators, however, dynamical similarity of master-slave robots can always be induced by proper tuning of feedback gains in the controllers, based on the physical ratio of both robots When we consider a linear Dynamically Similar Teleoperation System (DSTS), there arises advantages, observed heuristically in several experiments [1] or analytically in [10]. In this paper, a simple yet important parametrization trade-off of feedback control gains and performance teleoperation parameters is presented that allows an easy way to achieve stability or even also passivity. The analysis is based on an an impedance control scheme reported in [2] when the time-delay in the communication channel is considered constant but unknown. Stability and passivity limits are obtained based on Llewellyn's and Raisbeck's criteria. This result explicitly suggests clearly guidelines among key factors, such as time delay, desired velocities and feedback gains in terms of the scaling parameters, arises a clear advantage when dealing with dynamically similar systems. This explains why the transparency of the teleoperation system, also studied under the same control law in [10] is improved by augmenting/reducing the dynamic/kinematic scaling factor, for given desired frequency, time delay and feedback gains. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Time delay

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Work in progress: Towards an architecture for managing delay-tolerant emergency networks

Work in progress: Towards an architecture for managing delay...

引用

3rd Extreme conference on Communication: The Amazon Expedition, ExtremeCom 2011

作者： Salvador, Ewerton M. MacEdo, Daniel F. Nogueira, José Marcos Nobre, Jéferson C. Duarte, Pedro A. P. R. Granville, Lisandro Z. Universidade Federal de Minas Gerais Dept. of Computer Science Belo Horizonte MG Brazil Universidade Federal Do Rio Grande Do sul Institute of Informatics - II Porto Alegre RS Brazil

ISBN: (纸本)9781450310796

Delay-Tolerant Networks (DTNs), just like any other computer network, need to be managed. However, until now little was achieved in the research for specific management solutions for DTNs, due to the fact that these networks are still in their infancy. In this paper we present some initial steps in the development of a management architecture for Delay-Tolerant Emergency Networks (DTENs), which is a specific case of DTN. Among the design definitions of our architecture, we can cite the use of the policy continuum concept, the division of the network into groups and the need for autonomic control loops to implement local management functions. Copyright 2011 ACM.

关键词： Delay tolerant networks

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Study of Thrust Lever control Loading System in Flight Simulator

Study of Thrust Lever Control Loading System in Flight Simul...

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2011 3rd international Asia conference on informatics in control, automation and robotics (CAR 2011 LNEE 132)

作者： Jinsong Zhao Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called Sim Mechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque.

关键词： Flight simulator control Loading System thrust lever current loop simulation model

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Real-time Ellipse fitting, 3D spherical object localization, and tracking for the ICUB simulator

Real-time Ellipse fitting, 3D spherical object localization,...

引用

作者： Greggio, Nicola Bernardino, Alexandre Laschi, Cecilia Dario, Paolo Santos-Victor, José ARTS Lab - Scuola Superiore S. Anna Polo S. Anna Valdera Viale R. Piaggio 34 56025 Pontedera Italy Instituto de Sistemas e Robótica Instituto Superior Técnico 1049-001 Lisboa Portugal

ISBN: (纸本)9789898425751

This paper presents the implementation of real-time tracking algorithm for following and evaluating the 3D position of a generic spatial object. The key issue of our approach is the development of a new algorithm for pattern recognition in machine vision, the Least Constrained Square-Fitting of Ellipses (LCSE), which improves the state of the art ellipse fitting procedures. It is a robust and direct method for the least-square fitting of ellipses to scattered data. Although it has been ellipse-specifically developed, our algorithm demonstrates to be well suitable for the real-time tracking any spherical object, and it presents also robustness against noise. In this work we applied it to the RobotCub humanoid robotics platform simulator. We compared its performance with the Hough Transform and with its original formulation, made by Fitzgibbon et Al. in 1999, in terms of robustness (success/failure in the object detection) and fitting precision. We performed several tests to prove the robustness of the algorithm within the overall system. Finally we present our results.

关键词： Computer vision

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Torque Analysis of Spherical Permanent Magnetic Motor with Magnetic Equivalent Circuit and Maxwell Stress Tensor

Torque Analysis of Spherical Permanent Magnetic Motor with M...

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2011 3rd international Asia conference on informatics in control, automation and robotics(CAR 2011)

作者： Bin Li Chao Liu Hongfeng Li Guidan Li School of Electrical Engineering and Automation Tianjin University

The paper discusses the torque characteristics of spherical permanent magnetic(PM)motor adopting three-dimensional(3D)magnetic equivalent circuit(MEC).Taking into account the unsaturation of the magnetic field,the rotor and the stator are meshed in spherical coordinates and cylindrical coordinates respectively,and then the expressions of the reluctances and magnetomotive force(MMF)have been *** to the relative position between the coordinate systems,the magnetic field in the air gap has been obtained by transforming the coordinate *** on this,the Maxwell stress tensor(MST)method is applied to analyze the electromagnetic force and torque,the corresponding torque matrix is given,and the relationship between the motor torque and winding location is *** with the finiteelement method(FEM),this method is proved to have a high accuracy and helpful to the optimization design of the PM spherical motor.

关键词： PM spherical motor,Electromagnetic torque,Maxwell Stress Tensor,3D Magnetic Equivalent Circuit

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Computer control of soaking process

Computer control of soaking process

引用

作者： Doležel, Petr Vašek, Vladimír Kolomazník, Karel Janáčová, Dagmar Department of Automatic Control Faculty of Applied Informatics Tomas Bata University in Zlín Nad Stráněmi 4511 760 05 Zlín Czech Republic

ISBN: (纸本)9789604742769

The paper deals with application of automatic control via microcomputer technology in leather manufacturing industry. Processing of raw hides comprises a series of particular processes through which raw hide is progressively transformed into the product usable for the production of leather goods which are part of our everyday life. Our contribution is focused only on one problem - the particular process of soaking, in which the input raw material can be irreversibly damaged in case of failing to abide the necessary low concentration gradient. The automatic control system working on the knowledge of mathematical model of physical-chemical processes present in the input raw stock is able to fulfill this condition and thus to secure the quality of the final product.

关键词： Microcomputers

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Passivity-based nonlinear stabilizing control for a mobile inverted pendulum

Passivity-based nonlinear stabilizing control for a mobile i...

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作者： Yokoyama, Kazuto Takahashi, Masaki Keio University 3-14-1 Hiyoshi Kohoku-ku 223-8522 Yokohama Japan

ISBN: (纸本)9789898425751

Mobile inverted pendulums (MIPs) need to be stabilized at all times using a reliable control method. Previous studies were based on a linearized model or feedback linearization. In this study, interconnection and damping assignment passivity-based control (IDA-PBC) is applied. The IDA-PBC is a nonlinear control method which has been shown to be powerful in stabilizing underactuated mechanical systems. Although partial differential equations (PDEs) must be solved to derive the IDA-PBC controller and this is a difficult task in general, we show that the IDA-PBC controller for the MIP can be derived solving the PDEs. We also formulate conditions which must be satisfied to guarantee asymptotic stability and show a procedure to estimate the domain of attraction. Simulation results indicate that the IDA-PBC controller achieves fast performance theoretically ensuring a large domain of attraction. We also verify its effectiveness in experiments. In particular control performance under an impulsive disturbance to the MIP are verified. The IDA-PBC achieves as fast transient performance as a linear-quadratic regulator (LQR). In addition, we show that even when the pendulum declines quickly and largely because of the disturbance, the IDA-PBC controller is able to stabilize it whereas the LQR can not.

关键词： controllers

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Design of a 23-DOF Small Humanoid Robot with ZMP Force Sensors

Design of a 23-DOF Small Humanoid Robot with ZMP Force Senso...

引用

2011 3rd international Asia conference on informatics in control, automation and robotics (CAR 2011 LNEE 132)

作者： Awais Yasin Qian Xu Bo Chen Qiushi Lu M.Waqas Khan Key Laboratory of Biomimetic Robots and Systems Beijing Institute of TechnologyMinistry of Education Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology

This paper presents a design of a 23-DOF small humanoid robot with force sensors for zero moment point(ZMP) measurement. Piezoresistive strain gauges are used under the feet of the robot to measure ground reaction force which is used to locate ZMP under the robot foot support area. The robot also uses gyroscope and acceleration sensor for motion *** robot developed is capable of all directional walking, running and performing different kung fu like *** specifications, joints distribution, walking planning of the robot, ZMP measurement scheme and vibration control using gyro sensor are discussed in this paper.

关键词： Humanoid Robot,Biped,ZMP,Walking Planning,Force sensor

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Efficient Spatial Decision-Making for Maritime Search and Rescue Using 3D GIS

Efficient Spatial Decision-Making for Maritime Search and Re...

引用

2011 3rd international Asia conference on informatics in control, automation and robotics(CAR 2011)

作者： Qinghua Qiao Tong Zhang Ming Yang Key Laboratory of Geo-Informatics of State Bureau of Surveying and Mapping Chinese Academy of Surveying and Mapping State Key Laboratory for Information Engineering in Surveying Mapping and Remote Sensing Wuhan University Shenzhen Research & Development Centre State Key Laboratory for Information Engineering in SurveyingMapping and Remote Sensing

The rate of major accidents at sea tended to *** utilization of dynamic information for massive ships in the maritime search and rescue shows more and more *** paper imports GIS to emergency data management and discusses many GIS technologies that can be used for maritime search and *** report our experience on the development of a prototype system based on three-dimension *** show that our methodology is applicable and efficient.

关键词： Decision making,3D GIS,rescue,Maritime

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One Step Method for Capturing a Multi-view 3D Image

One Step Method for Capturing a Multi-view 3D Image

引用

2011 3rd international Asia conference on informatics in control, automation and robotics (CAR 2011 LNEE 132)

作者： Tashuya Haga Yue Bao Fei Gu Tokyo City University

When creating a multi-view 3D image with one camera, the camera has to be moved from one viewpoint to another viewpoint. It would take a long time and high cost, and it can not get the image of a moving object. In this paper, we proposed the method for capturing a multi-view 3D image by one step. In order to capture a multi-view image, the lenticular lens is used in our proposed system. The captured multi-view image became reverse when we use the lenticular lens, it needs to perform reversal processing, and it also needs to calculate the best observation distance. When displaying a multi-view image, 3D image is possible to display using the same lens. As an experiment result, we got the multi-view image by our proposal system. And when we laid the multi-view image under a lenticular lens, the multi-view 3D image was confirmed.

关键词： Multi-view Image,3D Image,Lenticular Lens,Parallax,One Step

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