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

作者： Pavelková, Lenka Jirsa, Ladislav Institute of Information Theory and Automation Czech Academy of Sciences Pod Vodárenskou věží 4 Prague Czech Republic

ISBN: (纸本)9789897583216

this paper proposes a recursive algorithm for the state estimation of a linear stochastic state space model. A model with discrete-time inputs, outputs and states is considered. the model matrices are supposed to be known. A noise of the involved model is described by a uniform distribution. the states are estimated using Bayesian approach. Without using an approximation, the complexity of the posterior probability density function (pdf) increases with time. the paper proposes an approximation of this complex pdf so that a feasible support of the posterior pdf is kept during the estimation. the state estimation consists of two stages, namely the time and data update including the mentioned approximation. the behaviour of the proposed algorithm is illustrated by simulations and compared with other methods. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Linear systems

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Toward Relative Mass With a Pulley-Based Differential Transmission

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IEEE TRANSACTIONS ON robotics 2009年第4期25卷 818-828页

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

In the well-known electromechanical analogy that converts between electrical and mechanical system representations, mass is the dual of a grounded capacitor. Consequently, any electrical circuit that contains ungrounded capacitors, such as a filter, does not have a mechanical equivalent. A new mechanical system element representing a pulley-based differential transmission is proposed, which, when connected to a mass, is shown to simulate a capacitor in the general case. this new differential mass model provides an additional conceptual framework to model complex mechanical systems such as robotic manipulators.

关键词： Dual electromechanical system analogy grounded capacitor relative mass system model

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An Explicit Bound for Stability of Sinc Bases 12

An Explicit Bound for Stability of Sinc Bases

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

作者： Avantaggiati, Antonio Loreti, Paola Vellucci, Pierluigi Dipartimento Sci Base & Appl Ingn I-00161 Rome Italy

ISBN: (纸本)9789897581496

It is well known that exponential Riesz bases are stable. the celebrated theorem by Kadec shows that 1/4 is a stability bound for the exponential basis on L-2(-pi, pi). In this paper we prove that alpha/pi (where alpha is the Lamb-Oseen constant) is a stability bound for the sinc basis on L2 (p;p). the difference between the two values alpha/pi = 1/4, is approximate to 0.15, therefore the stability bound for the sinc basis on L-2(-pi, pi) is greater than Kadec's stability bound (i.e. 1/4).

关键词： Kadec's 1/4-theorem Riesz Basis Exponential Bases Sinc Bases Sampling theorem

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Bayesian Mixture Estimation without Tears 18

Bayesian Mixture Estimation without Tears

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

作者： Jozova, Sarka Uglickich, Evzenie Nagy, Ivan Czech Tech Univ Fac Transportat Sci Na Florenci 25 Prague 11000 Czech Republic Czech Acad Sci Inst Informat Theory & Automat Dept Signal Proc Pod Vodarenskou Vezi 4 Prague 18208 Czech Republic

ISBN: (纸本)9789897585227

this paper aims at presenting the on-line non-iterative form of Bayesian mixture estimation. the model used is composed of a set of sub-models (components) and an estimated pointer variable that currently indicates the active component. the estimation is built on an approximated Bayes rule using weighted measured data. the weights are derived from the so called proximity of measured data entries to individual components. the basis for the generation of the weights are integrated likelihood functions with the inserted point estimates of the component parameters. One of the main advantages of the presented data analysis method is a possibility of a simple incorporation of the available prior knowledge. Simple examples with a programming code as well as results of experiments with real data are demonstrated. the main goal of this paper is to provide clear description of the Bayesian estimation method based on the approximated likelihood functions, called proximities.

关键词： Data Analysis Clustering Classification Mixture Model Estimation Prior Knowledge

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Incremental design of organic computing systems: Moving system design from design-time to runtime

Incremental design of organic computing systems: Moving syst...

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

作者： Tomforde, Sven Hähner, Jörg Müller-Schloer, Christian Organic Computing Group University of Augsburg Eichleitnerstr. 30 86159 Augsburg Germany System and Computer Architecture Group Leibniz University Hannover Appelstr. 4 30167 Hannover Germany

ISBN: (纸本)9789898565709

System engineers are facing demanding challenges in terms of complexity and interconnectedness. Current research initiatives like Organic or Autonomic Computing propose to increase the freedom of the system to be developed using concepts like adaptivity and self-organisation. Adaptivity means that for such systems we defer a part of the design process from design time to runtime. therefore, we need a runtime infrastructure which takes care of runtime modifications. this paper presents a meta-design process to develop adaptive systems and parametrise the runtime infrastructure in a unified way. To demonstrate the proposed design process, we applied it to a communication scenario and evaluate the resulting system in a realistic setting.

关键词： Intelligent systems

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Stiffness Analysis of a New Tensegrity Mechanism based on Planar Dual-triangles 17

Stiffness Analysis of a New Tensegrity Mechanism based on Pl...

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

作者： Zhao, Wanda Pashkevich, Anatol Klimchik, Alexandr Chablat, Damien UMR CNRS 6004 Lab Sci Numer Nantes LS2N 1 Rue Noe F-44321 Nantes France IMT Atlantique Nantes 4 Rue Alfred Kastler F-6004 Nantes France Innopolis Univ Univ Skaya St 1 Tatarstan 420500 Russia Ctr Natl Rech Sci CNRS Paris France

ISBN: (纸本)9789897584428

the paper deals with the stiffness analysis and stability study of a new type of tensegrity mechanism based on dual-triangle structures, which actuated by adjusting elastic connections between the triangle edges. For a single segment of such mechanism, the torque-deflection relation was obtained as a function of control inputs and geometric parameters. It was proved that a single section of the mechanism can has either a single or three equilibrium configurations that can be both stable and unstable. Corresponding conditions of stability were found allowing user to choose control inputs ensuring the mechanism controllability, and the obtained results are confirmed by the simulation examples. the structure composed of two segments in serial was also analysed and an equivalent serial structure with non-linear virtual springs in the joints was proposed. It was proved that the stiffness of such structure decreases while the external loading increases, which may lead to the buckling phenomenon.

关键词： Tensegrity Mechanisms Equilibrium Configurations Stability Analysis Stiffness Analysis

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WSN-based near real-time environmental monitoring for shelf life prediction through data processing to improve food safety and certification 11

WSN-based near real-time environmental monitoring for shelf ...

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

作者： Biccario, G.E. Annese, V.F. Cipriani, S. De Venuto, D. Department of Electric and Informatic Engineering - DEI Politecnico di Bari Via Orabona 4 Bari70125 Italy

ISBN: (纸本)9789897580390

this position paper aims to support a control technique in the perishables goods supply-chain through a combination of near real-time wireless sensor network (WSN) for environmental monitoring and further data processing to predict the shelf life of the product. this approach returns a low cost, versatile and efficient tool that can significantly improve the safety and food certification through the organoleptic qualities control using three different sensors, i.e. temperature, light and humidity. In this article, therefore, the advantages of the proposed technique are explained and a case study is presented to support this approach, as well as an example of processing algorithm for shelf life evaluation.

关键词： Food safety

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Practical Initialization of Recursive Mixture-Based Clustering for Non-negative Data 14th

Practical Initialization of Recursive Mixture-Based Clusteri...

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14th international conference on informatics in control, automation and robotics (icinco)

作者： Suzdaleva, Evzenie Nagy, Ivan Czech Acad Sci Inst Informat Theory & Automat Dept Signal Proc Pod Vodarenskou Vezi 4 Prague 18208 Czech Republic Czech Tech Univ Fac Transportat Sci Florenci 25 Prague 11000 Czech Republic

ISBN: (纸本)9783030112929;9783030112912

the paper provides a practical guide on initialization of the recursive mixture-based clustering of non-negative data. For modeling the non-negative data, mixtures of uniform, exponential, gamma and other distributions can be used. Initialization is known to be an important task for a start of the mixture estimation algorithm. Within the considered recursive approach, the key point of initialization is a choice of initial statistics of the involved prior distributions. the paper describes several initialization techniques for the mentioned types of components that can be beneficial primarily from a practical point of view.

关键词： Mixture-based clustering Recursive mixture estimation Different components Non-negative data Bayesian estimation

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Smooth trajectory generation with 4d space analysis for dynamic obstacle avoidance 11

Smooth trajectory generation with 4d space analysis for dyna...

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

作者： Gim, Suhyeon Adouane, Lounis Lee, Sukhan Derutin, Jean-Pierre Institut Pascal/Université Blaise Pascal UMR6602 Aubiére cedex63177 France SungKyunKwan University Seoburo 2066 Suwon440-746 Korea Republic of

ISBN: (纸本)9789897580406

this paper presents smooth trajectory generation scheme for obstacle avoidance in static and dynamic environment. the smooth trajectory has successive two steps where smooth path is generated firstly and then corresponding velocity is planned along the path. Smooth path of continuous curvature is composed by para-metrically adjusted clothoids with proposed algorithm and then the safe velocity planning is carried out in the 4D configuration framework. Two circles are used to completely surround the used nonholonomic car-like vehicle, this permit to check the probable future vehicle's collisions and to have space-time analysis. Some demonstrative simulations show the strong potential of the proposed smooth and flexible methodology for future experimentations with actual vehicles.

关键词： Vehicles

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Complete stiffness model for a serial robot 11

Complete stiffness model for a serial robot

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

作者： Klimchik, Alexandr Caro, Stephane Furet, Benôit Pashkevich, Anatol Ecole des Mines de Nantes 4 rue Alfred-Kastler Nantes44307 France Institut de Recherches en Communications et Cybernétique de Nantes UMR CNRS 6597 Nantes France Paris France Université de Nantes quai de Tourville Nantes44035 France

ISBN: (纸本)9789897580406

the paper addresses a problem of robotic manipulator calibration. the main contributions are in the area of the elastostatic parameters identification. In contrast to other works, the considered approach takes into account elastic properties of both links and joint. Particular attention is paid to generation of the complete and irreducible stiffness model that is suitable for the identification. To solve the problem, physical and algebraic model reduction methods are proposed. they are based on taking into account the physical properties of the manipulator elements and structure of the corresponding observation matrix. the advantages of the developed approach are illustrated by an application example that deals with elastostatic calibration of an industrial robot.

关键词： Calibration

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