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检索条件"任意字段=4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007"

共 124 条记录，以下是11-20 订阅

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Automatic vision-based monitoring of the spacecraft atv rendezvous I separations with the international space station

Automatic vision-based monitoring of the spacecraft atv rend...

引用

4th international conference on informatics in control, automation and robotics, icinco 2007

作者： Boguslavsky, A.A. Sazonov, V.V. Sokolov, S.M. Smirnov, A.I. Saigiraev, K.U. Keldysh Institute for Applied Mathematics Miusskaya Sq. 4 Moscow Russia RSC ENERGIA Korolev Russia

the system which allows automating the visual monitoring of the spacecraft ATV rendezvous / separations with the international space station is being considered. the initial data for this complex is the video signal received from the TV-camera, mounted on the station board. the offered algorithms of this video signal processing in real time allow restoring the basic characteristics of the spacecraft motion with respect to the international space station. the results of the experiments with the described software and real and virtual video data about the docking approach of the spacecraft with the international Space Station are being presented. the accuracy of the estimation of the motion characteristics and perspectives of the use of the package are being discussed.

关键词： Video signal processing

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Higher order sliding mode stabilization of a car-like mobile robot

Higher order sliding mode stabilization of a car-like mobile...

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4th international conference on informatics in control, automation and robotics, icinco 2007

作者： Hamerlain, E. Achour, K. Floquet, T. Perruquetti, W. Laboratoire de Robotique et d'intelligence Artficielte CDTA Cite du 20 Aodt 1956 BP 17 Baba Hassen Alge Algeria L4GIS UMR CNRS 8146 Ecole Centrale de Lille BP 48 Cite Scientfique 59651 Villeneuve-d'Ascq Cedex France

this paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. this control strategy switches between two different sliding mode controls: a second order one (super-twisting algorithm) and a new third order sliding mode control that performs a finite time stabilization. the proposed third sliding mode controller is based on geometric homogeneity property with a discontinuous term. Simulation results show the control performance.

关键词： Sliding mode control

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Modeling and control of an experimental switched manufacturing system

Modeling and control of an experimental switched manufacturi...

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4th international conference on informatics in control, automation and robotics

作者： Canu, Michael Morel, Dominique Rakoto-Ravalontsalama, Naly Ecole Mines 4 Rue Alfred Kastler F-44307 Nantes 03 France IRCCyN F-44307 Nantes 03 France

ISBN: (纸本)9789728865825

the notion of switched discrete event systems (DES) has been introduced recently. this is a class of DES where each automaton is the composition of two basic automata, but with different composition operators. A switching occurs when there is a change of the composition operator, but keeping the same two basic automata. A mode behavior is defined as the active DES behavior for a given composition operator. Composition operators are supposed to change more than once so that each mode is visited more than once. In this paper we study the modeling and control of an experimental manufacturing system as an example of switched DES.

关键词： manufacturing systems

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Hierarchical spline path planning method for complex environments

Hierarchical spline path planning method for complex environ...

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4th international conference on informatics in control, automation and robotics

作者： Saska, Martin Hess, Martin Schilling, Klaus University of Wuerzburg Germany Informatics VII Robotics and Telematics Wuerzburg 97074 Am Hubland Germany

ISBN: (纸本)9789728865832

Path planning and obstacle avoidance algorithms are requested for robots working in more and more complicated environments. Standard methods usually reduce these tasks to the search of a path composed from lines and circles or the planning is executed only with respect to a local neighborhood of the robot. Sophisticated techniques allow to find more natural trajectories for mobile robots, but applications are often limited to the offline case. the novel hierarchical method presented in this paper is able to find a long path in a huge environment with several thousand obstacles in real time. the solution, consisting of multiple cubic splines, is optimized by Particle Swarm Optimization with respect to execution time and safeness. the generated spline paths result in smooth trajectories which can be followed effectively by nonholonomic robots. the developed algorithm was intensively tested in various simulations and statistical results were used to determine crucial parameters. Qualities of the method were verified by comparing the method with a simple PSO path planning approach.

关键词： path planning mobile robots PSO spline path hierarchical approach

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Estimation of state and parameters of traffic system

Estimation of state and parameters of traffic system

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4th international conference on informatics in control, automation and robotics

作者： Pecherkova, Pavla Homolova, Jitka Dunik, Jindrich Acad Sci Czech Republ Dept Adapt Syst Inst Informat Theory & Automat Pod Vodarenskou Vezi 4 Prague 18205 8 Czech Republic Univ West Bohemia Pilsen Fac Sci Appl Dept Cybernet Plzen 30614 Czech Republic

ISBN: (纸本)9789728865832

this paper deals with the problem of traffic flow modelling and state estimation for historical urban areas. the most important properties of the traffic system are described. then the model of the traffic system is presented. the weakness of the model is pointed out and subsequently rectified. Various estimation and identification techniques, used in the traffic problem, are introduced. the performance of various filters is validated, using the derived model and synthetic and real data coming from the center of Prague, with respect to filter accuracy and complexity.

关键词： traffic system state space model state estimation identification nonlinear filtering

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Process control using controlled finite Markov chains with an application to a multivariable hybrid plant

Process control using controlled finite Markov chains with a...

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4th international conference on informatics in control, automation and robotics

作者： Ikonen, Enso Oulu Univ Dept Proc & Environm Engn Syst Engn Lab 4PYOSYS FIN-90014 Oulu Finland

ISBN: (纸本)9789728865849

Predictive and optimal process control using finite Markov chains is considered. A basic procedure is outlined, consisting of discretization of plant input and state spaces;conversion of a (a priori) plant model into a set of finite state probability transition maps;specification of immediate costs for state-action pairs;computation of an optimal or a predictive control policy;and, analysis of the closed-loop system behavior. An application, using a MATLAB toolbox developed for MDP-based process control design, illustrates the approach in the control of a multivariable plant with both discrete and continuous action variables. For problems of size of practical significance (thousands of states), computations can be performed on a standard office PC. the aim of the work is to provide a basic framework for examination of nonlinear control, emphasizing in on-line learning from uncertain data.

关键词： Markov decision process generalized cell-to-cell mapping qualitative modelling

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Output-feedback MPC for Robotic Systems under Bounded Noise 18

Output-feedback MPC for Robotic Systems under Bounded Noise

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Pavelkova, Lenka Kuklisova Belda, Kvetoslav Czech Acad Sci Inst Informat Theory & Automat Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic

ISBN: (纸本)9789897585227

the paper presents an output-feedback model predictive control applied to the motion control of a dynamic model of a parallel kinematic machine. the controlled system is described by a stochastic linear discrete-time model with bounded disturbances. An approximate uniform Bayesian filter provides set state estimates. the choice of the specific point estimate from this set is a part of the optimization. the cost function includes penalties on the tracking error and the actuation effort respecting increments. Illustrative examples show the effectiveness of the proposed approach and provide a comparison with previous results.

关键词： Model Predictive control Output-Feedback control Robot Manipulator State Estimation Bayes Methods Bounded Uncertainty

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Making Sense of Manufacturing Data 13

Making Sense of Manufacturing Data

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Gerrikagoitia, Jon Kepa Unamuno, Gorka Sanz, Anne IK4 IDEKO Arriaga Ind 2 Elgoibar Spain

ISBN: (纸本)9789897581984

A fast and successful digitation of the industry is meant to be a key issue for Europe in order to maintain its leading role. the new industrial revolution will be based on data as raw material, where the digital economy will merge as a real economy. the challenges for a "hard" sector where traditionally the "soft" has not been considered as an asset are evident and notorious. In this paper IK4-IDEKO, as part of a machine tool builder group, DANOBATGROUP, provides a vision of the challenge and the approach for the solution, supported by results of the current work.

关键词： Industry 4.0 Smart Manufacturing Digital Factory Big Data Analytics Data Science

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Mechanical system modelling of robot dynamics using a mass/pulley model

Mechanical system modelling of robot dynamics using a mass/p...

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4th international conference on informatics in control, automation and robotics

作者： Stocco, L. J. Yedlin, M. J. Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

ISBN: (纸本)9789728865849

the well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulate a capacitor in the general case. this new MP model is used to model the off-diagonal elements of a mass matrix so that devices whose effective mass is coupled between more than one actuator can be represented by a mechanical system diagram that is topographically parallel to its equivalent electric circuit model. Specific examples of this technique are presented to demonstrate how a mechanical model can be derived for both a serial and a parallel robot with both two and three degrees of freedom. the technique, however, is extensible to any number of degrees of freedom.

关键词： mass matrix inertia matrix MP model pulley differential transmission mechanical system representation robot dynamics impedance equivalent electric circuit

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Design of a Self-tuning Predictive PI controller for Delay Systems based on the Augmented Output 16

Design of a Self-tuning Predictive PI Controller for Delay S...

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

作者： Ashida, Yoichiro Wakitani, Shin Yamamoto, Toni Matsue Coll Natl Inst Technol Dept Elect Engn & Comp Sci 14-4 Nishiikumacho Matsue Shimane Japan Hiroshima Univ Grad Sch Engn 1-4-1 Kagamiyama Higashihiroshima Japan

ISBN: (纸本)9789897583803

this paper proposes an online type control parameter tuning method for a predictive PI controller. Predictive PI controller is based on a PI controller with a Smith predictor, and it is effective for a controlled object with large dead-time. control performance of the predictive PI controller strongly depends on control parameters. Recently, some data-driven controller tuning methods have been proposed. the methods directly calculate suitable parameters from one or some sets of operating data. In addition, almost controlled processes are time-variant. In this paper, a data-driven self-tuning predictive PI controller is proposed. the effectiveness of the proposed scheme is evaluated by a simulation example.

关键词： Predictive PI controller Predictive control Delay System Data-driven Self-tuning

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