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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41-50 订阅

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3D Path Following with Remote Center of Motion Constraints 13

3D Path Following with Remote Center of Motion Constraints

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

作者： Dahroug, Bassem Tamadazte, Brahim Andreff, Nicolas Univ Bourgogne Franche Comte FEMTO ST Inst CNRS AS2M DeptENSMM 4 Rue Alain Savary F-25000 Besancon France

ISBN: (纸本)9789897581984

the remote center of motion (RCM) is an essential issue during minimal invasive surgery where the surgeon manipulates a medical instrument inside the human body. It is important to assure that the tool should not apply forces on the incision wall in order to prevent patient harm. the paper shows a geometric method computing the intended robot velocity vector for respecting the RCM constraints. In addition, the proposed solution deals with the latter constraints as the highest task priority. A second task function is added, which is projected in the null space on the first task, to follow a 3D path inside the cavity. As result, this method helps the surgeon to execute more sophisticated motion within the patient body with high accuracy;since the results shows standard deviation around 0.004mm and 0.089mm of RCM task error and positioning task error, respectively.

关键词： Bilateral Remote Center of Motion Constraints 3D Path Following Medical robotics

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Coverage-guided Intelligent Test Loop A Concept for Applying Instrumented Testing to Self-organising Systems 13

Coverage-guided Intelligent Test Loop <i>A Concept for Apply...

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

作者： Kantert, Jan Tomforde, Sven Weber, Susanne Mueller-Schloer, Christian Leibniz Univ Hannover Inst Syst Engn Appelstr 4 D-30167 Hannover Germany Univ Kassel Intelligent Embedded Syst Grp Wilhelmshoher Allee 73 D-34121 Kassel Germany

ISBN: (纸本)9789897581984

Multi-agent systems typically consist of a large set of agents that act on behalf of different users. Due to inherent dynamics in the interaction patterns of these agents, the system structure is typically self-organising and appears at runtime. Testing self-organising systems is a severe challenge that has not received the necessary attention within the last decade. Obviously, traditional testing methods reach their limitations and are hardly applicable due to the runtime characteristics and dynamics of self-organisation. In this paper, we argue that we run into a paradoxon if we try to utilise self-organising testing systems. In order to circumvent parts of the underlying limitations, we propose to combine such an approach with instrumented testing.

关键词： Multi-Agent-Systems Testing Self-organisation Organic Computing

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Nonlinear design of model predictive control adapted for industrial articulated robots 15

Nonlinear design of model predictive control adapted for ind...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Belda, Květoslav Department of Adaptive Systems Czech Academy of Sciences Institute of Information Theory and Automation Pod Vodárenskou věží 4 Prague 8182 08 Czech Republic

ISBN: (纸本)9789897583216

this paper introduces a specific nonlinear design of the discrete model predictive control based on the features of linear methods used for the numerical solution of ordinary differential equations. the design is intended for motion control of robotic or mechatronic systems that are usually described by nonlinear differential equations up to the second order. For the control design, the explicit linear multi-step methods are considered. the proposed way enables the design to apply nonlinear model to the construction of equations of predictions used in predictive control. An example of behavior of proposed versus linear predictive control is demonstrated by a comparative simulation with nonlinear mathematical model of six-axis articulated robot. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Model predictive control

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Development of Flow Rate Feedback control in Tilting-ladle-type Pouring Robot with Direct Manipulation of Pouring Flow Rate 16

Development of Flow Rate Feedback Control in Tilting-ladle-t...

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

作者： Sueki, Yuta Noda, Yoshiyuki Univ Yamanashi Dept Mech Engn 4-3-11 Takeda Kofu Yamanashi 4008511 Japan

ISBN: (纸本)9789897583803

this paper describes the advanced control technology for the tilting-ladle-type pouring robots in the casting industry. In the pouring process in which the molten metal is poured into the pouring basin of the mold by tilting the ladle, it is difficult to pour the molten metal as desired pouring flow rate by the operator. Because the pouring flow rate is manipulated indirectly by manipulating the ladle's angle. In order to solve this problem, in previous studies, we developed the direct manipulation system of the pouring flow rate in the pouring robots. However, the error between the desired and the actual pouring flow rate can be caused by the disturbances in the pouring condition. therefore, in this study, we develop the pouring flow rate feedback control for improving the tracking performance. In this approach, the pouring flow rate can be estimated by using the extended Kalman filter, and the feedback controller can be constructed by the gain-scheduled PID control based on the estimated flow rate. the developed system is applied to the laboratory-type pouring robot. According to the experiments, the operator can manipulate the pouring flow rate as desired, even in the pouring condition with the disturbance.

关键词： Pouring Robot Flow Rate control Extended Kalman Filter Gain-scheduled PID control

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Overview of bounded support distributions and methods for Bayesian treatment of industrial data

Overview of bounded support distributions and methods for Ba...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Dedecius, Kamil Ettler, Pavel Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic COMPUREG Plzeň s.r.o. Nádražní 18 306 34 Plzeň Czech Republic

ISBN: (纸本)9789898565709

Statistical analysis and modelling of various phenomena are well established in nowadays industrial practice. However, the traditional approaches neglecting the true properties of the phenomena still dominate. Among others, this includes also the cases when a variable with bounded range is analyzed using probabilistic distributions with unbounded domain. Since many of those variables nearly fulfill the basic conditions imposed by the chosen distribution, the properties of used statistical models are violated rather rarely. Still, there are numerous cases, when inference with distributions with unbounded domain may lead to absurd conclusions. this paper addresses this issue from the Bayesian viewpoint. It briefly discusses suitable distributions and inferential methods overcoming the emerging computational issues.

关键词： Statistical methods

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Addressing Challenges Beyond Classic control with Organic Computing 12

Addressing Challenges Beyond Classic Control with Organic Co...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Kantert, Jan Tomforde, Sven Mueller-Schloer, Christian Leibniz Univ Hannover Inst Syst Engn Appelstr 4 D-30167 Hannover Germany Univ Augsburg Lehrstuhl Organ Comp D-86159 Augsburg Germany

ISBN: (纸本)9789897581496

the increasing coupling of former isolated systems towards an interwoven complex structure poses questions about the controllability and maintainability of the corresponding systems. this paper discusses challenges resulting from the growing complexity of technical systems and derives solution perspectives by utilising concepts from the domain of self-organising and self-optimising systems, in particular from the Organic Computing and Autonomic Computing initiatives.

关键词： Adaptive control Loop Organic Computing Intelligent control

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Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation 17

Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabi...

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17th international conference on informatics in control, automation and robotics (icinco)

作者： Chakarov, Dimitar Veneva, Ivanka Tsveov, Mihail Venev, Pavel BAS Inst Mech Acad G Bonchev StrBlock 4 Sofia 1113 Bulgaria

ISBN: (纸本)9789897584428

In this paper, an upper arm rehabilitation exoskeleton is studied. An appropriate solution is sought for the exoskeleton design and actuation that provides transparency and natural safety as well as sufficient force and performance. To achieve this, a hybrid actuation with back-drivable electric and pneumatic drives is studied. A hybrid actuation controller is introduced, in which pneumatic drive takes care of the initial force response, and the electric drive complements the pneumatic drive. In the paper, the feasibility of the basic therapy modes "patient in charge" and "robot in charge" is simulated. An approach for dynamic estimation of elastic propulsion in the second joint through imposed motions is used. the influences of the inertial, frictional, gravitational, and elastic forces that resulted from the hand and the exoskeleton impedance are reported. the pneumatic drive's influence as an elastic balance of the gravitational forces is considered. Finally, a conclusion and discussion are added.

关键词： Exoskeleton Transparency Safety Pneumatic Electric Hybrid Actuation Human therapeutic Dynamic Simulations Mechanical Impedance Resistive Torque

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Quantification of information uncertainty for the purpose of condition monitoring 11

Quantification of information uncertainty for the purpose of...

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11th international conference on informatics in control, automation and robotics, icinco 2014

作者： Ettler, Pavel Dedecius, Kamil COMPUREG Plzeň s.r.o. Nádražní 18 Plzeň306 34 Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 Prague182 08 Czech Republic

ISBN: (纸本)9789897580390

Pervasive uncertainty of information which affects to some extent functionality of every control and information system concerns naturally the condition monitoring systems as well. Uncertainty can practically be disregarded when monitoring a single component, but it should be taken into account when compounding extensive amount of information within a hierarchical diagnostic system. When using uncertain information for expression of inner system's relations, probabilistic and namely subjective logic may do a good turn. However, the key problem remains how to quantify the uncertainty on the lowermost level of the monitoring system. the paper introduces several solutions based on inspection of either a single measured signal or a couple of correlated signals.

关键词： Condition monitoring

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Evaluation of the Capabilities of a Hybrid Driven Exoskeleton in Passive Mode of Interaction 18

Evaluation of the Capabilities of a Hybrid Driven Exoskeleto...

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

作者： Chakarov, Dimitar Veneva, Ivanka Venev, Pavel Tsveov, Mihail Bulgarian Acad Sci Inst Mech Acad G Bonchev StrBlock 4 Sofia 1113 Bulgaria

ISBN: (纸本)9789897585227

A new construction of upper limbs exoskeleton with hybrid drive was studied in this work. the paper presents mechanical structure and actuation of exoskeleton with hybrid drive including pneumatic cylinders and electric motors. In order to evaluate the transparency and safety, the capabilities of the exoskeleton in passive mode of interaction was estimated. A model of the interaction force between the patient and the exoskeleton arm in passive mode was built. the model was based on harmonious movements imposed in one joint of the exoskeleton arm. Experiments and simulations were performed to assess the interaction force between the patient and the exoskeleton because of the mechanical impedance of the device. the force of interaction was obtained from passive forces, such as inertial, frictional and gravitational forces, as well as from the elasticity of the pneumatics. the patient-initiated harmonic motion was studied in two cases- without pressure in the chambers and with pressure for gravity compensation. the results where demonstrated graphically. Conclusions where made about the behavior of the exoskeleton in the passive mode of interaction.

关键词： Exoskeleton Arm Electric Motors Pneumatic Cylinders Interaction Force Patient Harmonic Motion Mechanical Impedance Experiments Simulations

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Evaluation of Processor Health within Hierarchical Condition Monitoring System 12

Evaluation of Processor Health within Hierarchical Condition...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Pavelkova, Lenka Jirsa, Ladislav Acad Sci Czech Republ Dept Adapt Syst Inst Informat Theory & Automat Vodarenskou Vezi 4 Prague Czech Republic

ISBN: (纸本)9789897581496

this paper proposes an intelligible method for the evaluation of a condition of the central processing unit (CPU). Proposed method monitors CPU utilisation with respect to user given bounds and provides result in the form of binomial opinion that serves subsequently for the condition monitoring of an industrial system. the system in question is described by a hierarchical structure and the examined CPU belongs to the set of its basic building blocks.

关键词： CPU Usage Processor Utilisation Condition Monitoring Processor Health Evaluation Bayesian Estimation Autoregressive Model Probabilistic Logic Binomial Opinion

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