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Improving the Convergence of the Periodic QZ Algorithm 16

Improving the Convergence of the Periodic QZ Algorithm

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Sima, Vasile Gahinet, Pascal Natl Inst Res & Dev Informat Optimizat Dept Modelling Simulat Bd Maresal Averescu 8-10 Bucharest Romania MathWorks 3 Apple Hill Dr Natick MA USA

ISBN: (纸本)9789897583803

The periodic QZ algorithm involved in the structure-preserving skew-Hamiltonian/Hamiltonian algorithm is investigated. These are key algorithms for many applications in diverse theoretical and practical domains such as periodic systems, (robust) optimal control, and characterization of dynamical systems. Although in use for several years, few examples of skew-Hamiltonian/Hamiltonian eigenproblems have been discovered for which the periodic QZ algorithm either did not converge or required too many iterations to reach the solution. This paper investigates this rare bad convergence behavior and proposes some modifications of the periodic QZ and skew-Hamiltonian/Hamiltonian solvers to avoid nonconvergence failures and improve the convergence speed. The results obtained on a generated set of one million skew-Hamiltonian/Hamiltonian eigenproblems of order 80 show no failures and a significant reduction (sometimes of over 240 times) of the number of iterations.

关键词： Eigenvalue Problem Hamiltonian Matrix Numerical Methods Optimal control

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Hybrid 6D Object Pose Estimation from the RGB Image 16

Hybrid 6D Object Pose Estimation from the RGB Image

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Staszak, Rafal Belter, Dominik Poznan Univ Tech Inst Control Robot & Informat Engn Poznan Poland

ISBN: (纸本)9789897583803

In this research, we focus on the 6D pose estimation of known objects from the RGB image. In contrast to state of the art methods, which are based on the end-to-end neural network training, we proposed a hybrid approach. We use separate deep neural networks to: detect the object on the image, estimate the center of the object, and estimate the translation and "in-place" rotation of the object. Then, we use geometrical relations on the image and the camera model to recover the full 6D object pose. As a result, we avoid the direct estimation of the object orientation defined in SO3 using a neural network. We propose the 4D-NET neural network to estimate translation and "in-place" rotation of the object. Finally, we show results on the images generated from the Pascal VOC and ShapeNet datasets.

关键词： Object Pose Estimation Convolutional Neural Networks Deep Learning in robotics

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Flexible cell formation and scheduling of robotics coordinated dynamic cellular manufacturing system: A gateway to industry 4.0 3

Flexible cell formation and scheduling of robotics coordinat...

引用

3rd international conference on robotics and automation in Industry (ICRAI)

作者： Saboor, Abdul Imran, Muhammad Agha, Mujtaba Hassan Ahmed, Waqas NUST Business Sch Islamabad Pakistan

ISBN: (纸本)9781728130583

This article introduces the concept of cell formation and scheduling in robotics coordinated Dynamic Cellular Manufacturing System (DCMS) for industry 4.0. Automated reconfigurability and flexibility in cellular Manufacturing are based on variations in product demands, deletion or addition of products and varying product mix. To design DCMS for Industry 4.0, this article proposes a conceptual model for an automated production environment in which no human factor involves receiving an order to its delivery. Computer Embedded System will analyze data from the manufacturing environment and make smart decisions to accept and complete the orders. The position and movement of all components will be signaled from the central ERP system. Cell formation will be automated by using Multi-Function robotics with self-transportation capabilities and Advanced Automatic Guided Vehicles (AGV) will be reconfigured and reschedule, whenever the new model added. Cell reformulation will provide a foundation for parts rescheduling. So, the DCMS will improve responsiveness with higher quality and lower cost.

关键词： Cellular Manufacturing System Cell Formation Scheduling Cellular Layout automation robotics Integrated Cell Industry 4.0

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ICINCO 2019 - Proceedings of the 16th international conference on informatics in control, automation and robotics

ICINCO 2019 - Proceedings of the 16th International Conferen...

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16th international conference on informatics in control, automation and robotics, ICINCO 2019

ISBN: (纸本)9789897583803

The proceedings contain 170 papers. The topics discussed include: evolving systems and their automotive applications;fault training matrix for process monitoring based on structured residuals;a PGD-based method for robot global path planning: a primer;generation of complex data for ai-based predictive maintenance research with a physical factory model;exploiting physical contacts for robustness improvement of a dot-painting mission by a micro air vehicle;on some open-ended challenges in model-based fault management for aerospace systems: a look backwards and forwards;camera and lidar cooperation for 3D feature extraction;balancing control of a self-driving bicycle;and singularity analysis for redundant manipulators of arbitrary kinematic structure.

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ICINCO 2019 - Proceedings of the 16th international conference on informatics in control, automation and robotics

ICINCO 2019 - Proceedings of the 16th International Conferen...

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16th international conference on informatics in control, automation and robotics, ICINCO 2019

ISBN: (纸本)9789897583803

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Measuring the Maturity Level of Information Technology Governance in the informatics Engineering Department Using COBIT 4.1 3

Measuring the Maturity Level of Information Technology Gover...

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3rd international conference on Science and Technology 2019, ICST 2019

作者： Prayitno, A. Patawaran, N. Marsujitullah Department of Informatics Musamus University Jl. Kamizaun Mopah Lama Merauke Indonesia

Information technology plays an important role in the business world because it may affect the operations of the organization within the organization that also uses information technology to provide information. One of the departments that use information technology is the Information Engineering Department of Musamus Merauke University, which is used to provide information related to the Department of Information Engineering. But in the use of information technology is still flawed. Therefore, it is necessary to have a standard in information technology management to measure overall standards and governance in information technology management, ie using COBIT. 4.1 Based on this study, we will design an information technology management model for the Department of Information Engineering. control objectives for information and related technologies (COBIT) are 4 primary domains, including domains, planning and organization (PO), acquisition and implementation (AI), transmission and support (DS) and Monitoring and Evaluate (ME) in all four domain research in COBIT 4.1 used to solve the problems and needs of the information engineering department in information technology management, support the process of technology services Prof. support and supervision and evaluation of information technology. The study found that the level of maturity of information technology supervision in the information engineering department is at level 2. Therefore, information technology in the information engineering department must be improved to the expected level. © Published under licence by IOP Publishing Ltd.

关键词： Information use

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Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M 16

Development and Implementation of Grasp Algorithm for Humano...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Khusnutdinov, Kamil Sagitov, Artur Yakupov, Ayrat Meshcheryakov, Roman Hsia, Kuo-Hsien Martinez-Garcia, Edgar A. Magid, Evgeni Kazan Fed Univ Higher Inst Informat Technol & Intelligent Syst Dept Intelligent Robot 35 Kremlyovskaya St Kazan Russia Russian Acad Sci VA Trapeznikov Inst Control Sci 65 Profsoyuznaya St Moscow 117997 Russia Far East Univ Dept Elect Engn Zhonghua Rd 49 Tainan Taiwan Univ Autonoma Ciudad Juarez Cd Juarez Chihuahua 32310 Mexico

ISBN: (纸本)9789897583803

In robot manipulator control, grasping different types of objects is an important task, but despite being a subject of many studies, there is still no universal approach. A humanoid robot arm end-effector has a significantly more complicated structure than the one of an industrial manipulator. It complicates a process of object grasping, but could possibly make it more robust and stable. A success of grasping strongly depends on a method of determining an object shape and a manipulator grasping procedure. Combining these factors turns object grasping by a humanoid into an interesting and versatile control problem. This paper presents a grasping algorithm for AR-601M humanoid arm with mimic joints in the hand that utilizes the simplicity of an antipodal grasp and satisfies force closure condition. The algorithm was tested in Gazebo simulation with sample objects that were modeled after selected household items.

关键词： Algorithm Grasp Planning Hand Pose Detection Humanoid Robot

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Clustering Algorithm for Generalized Recurrences using Complete Lyapunov Functions 16

Clustering Algorithm for Generalized Recurrences using Compl...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Argaez, Carlos Giesl, Peter Hafstein, Sigurdur Univ Iceland Sci Inst Dunhagi 3 IS-107 Reykjavik Iceland Univ Sussex Dept Math Falmer BN1 9QH England

ISBN: (纸本)9789897583803

Many advances and algorithms have been proposed to obtain complete Lyapunov functions for dynamical systems and to properly describe the chain-recurrent set, e.g. periodic orbits. Recently, a heuristic algorithm was proposed to classify and reduce the over-estimation of different periodic orbits in the chain-recurrent set, provided they are circular. This was done to investigate the effect on further iterations of the algorithm to compute approximations to a complete Lyapunov function. In this paper, we propose an algorithm that classifies the different connected components of the chain-recurrent set for general systems, not restricted to (circular) periodic orbits. The algorithm is based on identifying clustering of points and is independent of the particular algorithm to construct the complete Lyapunov functions.

关键词： Complete Lyapunov Functions Chain-recurrent Set Clustering Algorithm Mathematics Dynamical Systems

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Camera Pose Estimation using CNN 20

Camera Pose Estimation using CNN

引用

Proceedings of the 3rd international conference on control and Computer Vision

作者： Bhattarabhorn Wattanacheep Orachat Chitsobhuk King Mongkut's Institute of Technology Ladkrabang Thailand

ISBN: (纸本)9781450388023

Estimating camera pose is a significant process, which assures the success of the 3D modeling performance. This research presents a camera pose estimation using convolutional neural network (CNN) to transfer learning from pre-trained deep learning VGG19 model in order to extract features from a single image using several datasets captured in indoor and outdoor environments with diverse perspectives and photographic styles. Due to the large dimensions of the extracted features, Latent Semantic Analysis (LSA) are introduced prior to the CNN input. Then, the CNN is trained to predict the camera views and translations. The prediction performance is measured in terms of average mean square errors and compared to the reference techniques. As a result, the regression estimation of the proposed CNN model outperforms the others with average 0.24 degrees rotation error and 0.26 m. translation errors.

关键词： Deep Learning Image Processing robotics 3D Reconstruction

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Simplified Rotor Angular Velocity Estimation for a Permanent Magnets Synchronous Motor by Current and Voltage Measurements 3rd

Simplified Rotor Angular Velocity Estimation for a Permanent...

引用

3rd international Scientific conference on Convergent Cognitive Information Technologies, Convergent 2018

作者： Vediakova, Anastasiia O. Vedyakov, Alexey A. Department of Computer Applications and Systems St. Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia Faculty of Control Systems and Robotics ITMO University Kronverkskiy Pr. 49 St. Petersburg197101 Russia

ISBN: (纸本)9783030374358

This paper is devoted to the rotor angular velocity estimation of the permanent-magnet synchronous motor (PMSM). It is an actual problem, for example, in sensorless control. We consider a classical, two-phase model in the stator frame of the unsaturated, non-salient PMSM in the state-space representation. All parameters of the model except the stator windings resistance and rotor inertia are assumed to be known. On the first step, we find the relation between measured signals and angular velocity and excluding the unknown parameters of the motor. This relation is simplified using properties of the measured signals and represented as the first-order regression model, where the unknown parameter is the angular velocity. On the next step, we propose the estimation scheme, which is based on the gradient descent method. The efficiency is illustrated through a set of numerical simulations. © Springer Nature Switzerland AG 2020.

关键词： Sensorless control

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