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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 and development of a legged robot research platform JROB-1

Design and development of a legged robot research platform J...

引用

IEEE international conference on robotics and automation (ICRA)

作者： S. Kagami M. Kabasawa K. Okada T. Matsuki Y. Matsumoto A. Konno M. Inaba H. Inoue Department of Mechano Informatics University of Tokyo Bunkyo Tokyo Japan

A legged robot "JROB-1" is developed for a robotics research platform as a result of inter-university research program on intelligent robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. The JROB-1 features: 1) self-contained, 2) RT-Linux running on PG/AT processes vision and sensor processing, motion planning and control, 3) connected to a network via radio Ethernet as to utilize networked resources, 4) Fujitsu color tracking vision board and Hitachi general purpose vision processing board, 5) all parts are commercially available, and 6) it is extensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common testbed for experiment and intelligent robotics research by integrating perception and motion.

关键词： Legged locomotion Intelligent robots Intelligent sensors Robot sensing systems Educational robots Sensor phenomena and characterization Educational programs Motion planning Process planning Motion control

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Action Port Model: a mixed paradigm conceptual workflow modeling language

Action Port Model: a mixed paradigm conceptual workflow mode...

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international conference on Cooperative Information Systems

作者： S. Carlsen SINTEF Telecom and Informatics Oslo Norway Norwegian University of Science and Technology Trondheim Norway

Workflow technology is a particular kind of IT for supporting work by enacting explicitly modeled and represented business processes. Thus, conceptual models of business and work processes are essential for process design as well as for process support in the form of workflow enactment. The author describes the APM (Action Port Model) workflow modeling language which builds upon existing IS conceptual modeling languages. Even if based on traditional languages, APM is intended to be the basis for a flexible workflow support environment supporting ad hoc workflow, conform to ideas of workflow models as plans for situated action.

关键词： Process design Speech Electrical capacitance tomography control system synthesis Process control Delay Graphics Design for disassembly Information systems Application software

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Development of a thermal imaging system for application in ecology

Development of a thermal imaging system for application in e...

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3rd conference on Photonic Systems for Ecological Monitoring

作者： Havlik, S Pancik, J Scepko, P Sekerka, V Hudec, M Sabo, I Sabo, M Balaz, T Institute of Control Theory and Robotics (Slovak Republic) T&N System SRO (Slovak Republic) ELSYST Engineering (Czech Republic) Military Academy Brno (Czech Republic)

This paper deals with the development and application possibilities of a 2D thermovision sensing system based on infrared non-cooled detector and advanced HW/SW signal processing technology. The design and results fro... 详细信息

ISBN: (纸本)0819426326

关键词： thermal imaging infrared sensors ecology signal processing

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control of manipulators with free-joints via the averaging method

Control of manipulators with free-joints via the averaging m...

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Suzuki Y. Nakamura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

A manipulator with free joints is a class of under-actuated mechanisms. control of such systems is one of major topics in robotics and control engineering. In this paper, we apply the averaging method to manipulators connected by free joints and describe their behaviors in response to periodic inputs. We analyze 2R and 3R free-joint manipulators and show that each system has invariant manifolds defined by an energy-like conserved quantity. We also develop a control method via feedback modulation of the input amplitude to reach a desired invariant manifold. The effectiveness of the method is verified by computer simulations.

关键词： Manipulator dynamics control systems Nonlinear control systems control engineering Amplitude modulation Nonlinear dynamical systems Bismuth Torque Robots Manifolds

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Fuzzy identifier based inverse dynamics control for a 3-DOF articulated manipulator

Fuzzy identifier based inverse dynamics control for a 3-DOF ...

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international conference on Industrial Electronics, control and Instrumentation

作者： K. Erbatur O. Kaynak I. Rudas Robotics and Automation Group TUBITAK Marmara Research Centre Kocaeli Turkey Faculty of Engineering National University of Singapore Singapore Department of Information Technology Banki Donat Polytechnic Budapest Hungary

A method using fuzzy logic and neural network structures for the identification and control of robot dynamics is presented in this paper. Fuzzy identifiers are employed to match the effects in the robot dynamics model. Fuzzy logic systems used are represented as three-layer feedforward neural networks. Fuzzy system parameters are adjusted via backpropagation. An on-line tuning algorithm is employed. Simulation results obtained with a three degrees of freedom articulated arm are given.

关键词： Manipulator dynamics Fuzzy control Fuzzy systems Neural networks Fuzzy logic Service robots Feedforward systems Feedforward neural networks Automatic control robotics and automation

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A new heuristic algorithm based on GAs for multiprocessor scheduling with task duplication

A new heuristic algorithm based on GAs for multiprocessor sc...

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IEEE international conference on Algorithms and Architectures for Parallel Processing (ICAP)

作者： T. Tsuchiya T. Osada T. Kikuno Department of Informatics and Mathematical Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

In this paper, we propose a new algorithm for scheduling parallel programs represented as directed acyclic graphs onto multiprocessors with communication delays. In such systems, task duplication is known as a useful technique for shortening the length of schedules. The proposed algorithm adopts several heuristics based on GAs as well as task duplication. To apply a GA to scheduling, we design chromosomes using list representation so that each chromosome can uniquely represent a schedule of tasks. We also design genetic operators to control the degree of replication of tasks. Through simulation studies for three kinds of parallel programs under various scheduling conditions, we compare the proposed algorithm with an established algorithm proposed by Kruatrachue. As a result, it is found that the new heuristic algorithm outperforms the previous algorithm especially when communication delays are relatively small.

关键词： Heuristic algorithms Scheduling algorithm Processor scheduling Delay Multiprocessing systems informatics Electronic mail Biological cells Genetics Communication system control

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New prospects in the adaptive control of robots under unmodeled environmental interactions

New prospects in the adaptive control of robots under unmode...

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international conference on Industrial Electronics, control and Instrumentation

作者： J.K. Tar J.F. Bito I.J. Rudas B. Patkai Department of Information Teclinology Bánki Donát Polytechnic Budapest Hungary Centre of Robotics and Automation Bánki Donát Polytechnic Budapest Hungary Department of Information Technology Bánki Donát Polytechnic Budapest Hungary

A new method for the simultaneous tackling of the effects of incomplete and approximate robot models and that of the dynamic interaction with an unmodeled environment in robot control was recently outlined. The basic idea was to gain adaptivity via tuning the parameters of the symplectic group inherent in the Hamiltonian description of classical mechanical systems. This description results in equations of uniform structure independent of the particular properties of the system to be controlled. Until now, only the effects of tuning of only special parameters were investigated by simulation for a special 3 DOF robot arm. In this paper, the behavior of a similar control with extended parameter space is considered in the case of a vertical 3 DOF SCARA robot. Simulation results are discussed for different nominal trajectories. The results reveal that this approach may open new prospects in the control of mechanical devices.

关键词： Adaptive control Equations Geometry control systems Robot kinematics Orbital robotics Robot control Manipulator dynamics Mathematical model Coordinate measuring machines

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Object detection using perceptual organization and prediction/verification of hypotheses

Object detection using perceptual organization and predictio...

引用

international conference on Industrial Electronics, control and Instrumentation

作者： P. Vasseur C. Pegard E. Mouaddib L. Delahoche Perception in Robotics DepartmentAutomatic Systems Laboratory University of Picardie Amiens France

The authors describe an approach to perceptual organization and prediction/verification of hypotheses for detecting a polyhedral 3-D object in indoor scenes. This method is a sequence of different stages which allow a reduction in the space of research and to give semantic significance to each primitive at different levels of representation. Since in indoor environments most of the objects are man-made, it appears that their morphological characteristics are essentially linear and regular, and for these reasons straight line segments are the best primitives available in order to detect such objects. From these primitives, geometric relations allow to obtain different classes of pair of segments which represent a second level in their algorithm. Next a method based on prediction and verification of hypotheses with score assignment is performed in order to create the third level, constituted by different simple geometric shapes as squares, rectangles, triangles and other polygons. Last stage is dedicated to the grouping of these different shapes by perceptual organization for finding complex objects in the scene. After a more detailed description of their algorithm, the authors prove that the method is both efficient and robust in the presence of noise like occlusion. Finally, experimental results obtained in the laboratory are shown in order to demonstrate the method's effectiveness.

关键词： Object detection Shape Layout Computer vision Laboratories Image segmentation robotics and automation Indoor environments Noise robustness Noise shaping

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Lyapunov stability proof for nonlinear-stiffness PD control

Lyapunov stability proof for nonlinear-stiffness PD control

引用

Proceedings of the 1996 13th IEEE international conference on robotics and automation. Part 1 (of 4)

作者： Armstrong, Brian McPherson, Joseph Li, Yonggang Univ of Wisconsin - Milwaukee Milwaukee United States

A stability proof is presented for a nonlinear PD (NPD) controller and third order systems. Nonlinear-stiffness control has been described previously in the literature and experimentally demonstrated;but to date, no stability proof has been given for systems of degree greater than 2 and the case where the stiff gain exceeds the limit established by the circle criterion. The limitation is important because, for this case, the circle is quite conservative and much of the benefit of NPD control comes with gains greater than could previously be proven to be stable. The stability of 3rd order systems with nonlinear-stiffness PD control and gains exceeding the circle-criterion limit is established by demonstrating a Lyapunov function. The damping achieved by high-gain NPD control is demonstrated by simulation.

关键词： robotics

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Proceedings of the 1996 3rd international conference on Dynamics and control of Structures in Space, SPACE 96

Proceedings of the 1996 3rd International Conference on Dyna...

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Proceedings of the 1996 3rd international conference on Dynamics and control of Structures in Space, SPACE 96

The proceedings contains 42 papers. Topics discussed include robotics and manipulators, dynamics and control of flexible structures, deployment dynamics, impact dynamics, microgravity, multi-body dynamics, friction of... 详细信息

关键词： control systems

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