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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61-70 订阅

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Vehicle parameter independent gain matrix selection for a quadrotor using state-space controller design methods 11

Vehicle parameter independent gain matrix selection for a qu...

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

作者： Wilson, Graeme N. Ramirez-Serrano, Alejandro Sun, Qiao Department of Mechanical and Manufacturing Engineering University of Calgary 2500 University Drive NW CalgaryABT2N 1N4 Canada

ISBN: (纸本)9789897580406

With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable hover controller in the presence of disturbances is presented along with simulation of control system performance. Additionally the design of a tracking system, for linear inertial position and yaw, is presented with simulation results. the gain matrix developed for this control system is independent of the specific quadrotor parameters, meaning that this same gain matrix can be used on a wide variety of quadrotors without modification. the hover and tracking controllers designed in this paper proved to perform well in simulation under perturbation disturbances and normally distributed disturbances on the UAVs linear speeds and angular speeds.

关键词： controllers

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Application of metaheuristics in developing an optimization model for audio coding process MPEG-4 AAC

Application of metaheuristics in developing an optimization ...

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

作者： Harff, Maurício Gómez, Arthur Tórgo Universidade do Vale do Rio dos Sinos Av. Unisinos 950 São Leopoldo Brazil

ISBN: (纸本)9789898565709

the perceptual quality achieved by audio encoders depends directly on the choice of its parameters. the MPEG-4 AAC (Advanced Audio Coding), used in Brazilian Digital Television System (BDTS), has a step in its structure that consists in an iteration loop to choose the parameters of the encoder dynamically during the encoding process. this selection process can be defined as a problem of Operational Research, being a Part Selection Problem, termed as AAC Encoding Problem. the structure in the reference encoder not solves this problem optimally. thus, this paper proposes the development and implementation of a model simulation of a structure, to find the internal parameters of the MPEG-4 AAC audio encoder, so as to optimize the perceptual audio quality for a given bit rate. the implementation of the optimization framework was developed in ANSI C programming language, using the Tabu Search and Genetic Algorithm metaheuristics in a hybrid structure. through the minimization of the ANMR (Average Noise-to-Mask Ratio) metric, algorithm tries to identify the best configuration of internal parameters of the MPEG-4 AAC and improve the perceptual audio quality.

关键词： Genetic algorithms

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Sloshing suppression control by using physical Boundary Element Model and Predictive control in liquid container transfer system

Sloshing suppression control by using physical Boundary Elem...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Okatsuka, Hisashi Shibuya, Ryota Terashima, Kazuhiko Noda, Yoshiyuki Matsuo, Yoshiki Department of Mechanical Engineering Toyohashi University of Technology Hibarigaoka 1-1 Tempaku Toyohashi Aichi 441-8580 Japan Department of Mechanical System Engineering Faculty of Engineering University of Yamanashi Takeda 4-4-37 Kofu Yamanashi 440-0016 Japan Department of Computer Siecnce Tokyo University of Technology 1404-1 Katakuramachi Hachioji City Tokyo 192-0982 Japan

ISBN: (纸本)9789898565211

this paper presents sloshing suppression control of liquid transferred at a desirable-speed. In order to suppress sloshing, a mathematical model consisting of continuous equations and the pressure equation is used and the sloshing phenomena are analyzed by using the Boundary Element Method (BEM). Further, the BEM model is transformed into the state-variable model. the proposed model can estimate not only first-order mode sloshing but also higher-order mode sloshing and predict the future behavior of liquid level more precisely. Moreover, sloshing is suppressed by using Model Predictive control (MPC).We were able to transfer the container while minimizing sloshing and maintaining a desirable speed.

关键词： Boundary element method

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N4SID-VAR method for multivariable discrete linear time-variant system identification 15

N4SID-VAR method for multivariable discrete linear time-vari...

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

作者： Robles, Alexander E. Giesbrecht, Mateus School of Electrical and Computer Engineering University of Campinas Av. Albert Einstein 400 Campinas - SP Brazil

ISBN: (纸本)9789897583216

In this paper, a method for multivariable discrete linear time-variant system identification is presented. this work is focused on slowly multivariable time-variant systems, so that it is possible to define time intervals, defined as windows, in which the system can be approximated by time-invariant models. In each window, a variation of N4SID that uses Markov parameters is applied and a state space model is estimated. For that reason the proposed method is defined as N4SID-VAR. After obtaining the models for all windows, the error between system model outputs are calculated and compared to the system outputs. the N4SID-VAR was tested with a time-variant multivariable benchmark and the results were accurate. the proposed method was also compared to the MOESP-VAR method and, for the tested benchmark, the N4SID-VAR was faster and more accurate than the MOESP-VAR algorithm. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Markov processes

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Towards a User-wheelchair Shared control Paradigm for Individuals with Severe Motor Impairments 13

Towards a User-wheelchair Shared Control Paradigm for Indivi...

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

作者： Plascencia, Alfredo Chavez Rozman, Jaroslav Brno Univ Technol IT4Innovat Ctr Excellence Fac Informat Technol Bozetechova 1-2 Brno 61266 Czech Republic

ISBN: (纸本)9789897581984

this paper presents a work in progress study of a novel user-wheelchair shared control paradigm for individuals with severe motor impairments, which consists of an optimal distribution between several modes, from full user control up to autonomous driving one. To this end, a C400 Permobil wheelchair has been equipped with a control command communication interface and with a scanning laser and a RGB-D sensors to carry out the automation algorithms that are part of the robot operating system (ROS) framework. Moreover, sensor data fusion for map making based on the Bayesian method is applied to the Xtion Pro Live RGB-D camera and the Hokuyo laser sensor data readings. these latter are interpreted by a probabilistic heuristic model that abstracts the beam into a ray casting to an occupied grid cell. Preliminary pilot tests were performed in two different room shapes. the first one in a two room laboratory with a narrow doorway, and the second one in a corridor. the former experiment was dropped due to failure to success, whereas, the latter was a successful one. this has been tested with three different modalities;hand-joystick, tongue-joystick and autonomous modes respectively. the successful results of the second pilot-test have proven the feasibility of using a combination of autonomous and manual control of a powered wheelchair in order to continue development towards a shared-control paradigm.

关键词： Assistive Technology Sensor Fusion Autonomous Wheelchair

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Energy model based control for forming processes

Energy model based control for forming processes

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5th international conference on informatics in control, automation and robotics

作者： Girard, Patrick thomson, Vincent Natl Res Council Canada Inst Ind Mat 75 Blvd Mortagne Boucherville PQ J4B 6Y4 Canada

ISBN: (纸本)9789898111302

thermoforming consists of shaping a plastic material by deforming it at an adequate deformation rate and temperature. It often exhibits abrupt switches between stable and unstable material behaviour that have neither been identified nor controlled up to now. PID control, although adequate for simple parts, has not been able to control very well the forming of complex parts and parts made of newer materials. In this paper, the state parameters that allow the development of predictive models for the forming process and the construction of control systems are identified. A robust, model based control system capable of in-cycle control is presented. It is based on a simulator continuously tuned and supported in real time by intelligent agents that incorporate diagnostic capabilities.

关键词： model based control forming energy simulation real time identification intelligent agents on-line diagnostics

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Experimental selection and verification of maximum-heart-rate formulas for use with karvonen formula

Experimental selection and verification of maximum-heart-rat...

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

作者： She, Jinhua Nakamura, Hitoshi Makino, Koji Ohyama, Yasuhiro Hashimoto, Hiroshi Wu, Min Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi 4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo 140-0011 Japan School of Information Science and Engineering Central South University Changsha 410083 China

ISBN: (纸本)9789898565716

Maximum heart rate (MHR) is commonly used to estimate exercise intensity with the Karvonen formula, and there are several methods of calculating it. In this study, we used pedaling experiments on a cycle ergometer to evaluate methods of determining MHR in order to select the ones most suitable for the Karvonen formula. In the experiments, 43 subjects rode an aerobike. the results show that, for people in their 20s, two methods are suitable for estimating exercise intensity with the Karvonen formula. the main physical parameters affecting exercise intensity were also extracted, based on the experimental results.

关键词： Heart

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Gait optimization of a rolling knee biped at low walking speeds

Gait optimization of a rolling knee biped at low walking spe...

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

作者： Hobon, Mathieu Elyaaqoubi, Nafissa Lakbakbi Abba, Gabriel Arts et Mtiers ParisTech CER Metz 4 rue Augustin Fresnel 57078 Metz France National Engineering College of Metz 1 route d'Ars Laquenexy 57035 Metz Cedex France

ISBN: (纸本)9789898565716

this paper addresses an optimization problem of trajectories for a biped robot with a new modelled structure of knees which is called rolling knee (RK). the first part of article is to present the new kinematic knee on a biped robot and the different models used to know the dynamic of the robot during a walking step. the gait is cyclic and simplified by a Single Support Phase (SSP) followed by an impact. the second part is a comparison of the influence of the gait trajectory on the control, using cubic spline functions as well as the Bézier functions. the energetic criterion is minimized through optimization while using the simplex algorithm and the Lagrange penalty functions to meet the constraints of stability and deflection of mobile foot. the main result is the using of Bézier functions permit to improve the energy gain in slow walking speeds. these trajectories permit to the biped robot to walk progressively without energy disturbance unlike those with cubic spline functions.

关键词： Trajectories

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Flexibility in organic systems remarks on mechanisms for adapting system goals at runtime

Flexibility in organic systems remarks on mechanisms for ada...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Becker, Christian Hähner, Jörg Tomforde, Sven System and Computer Architecture Group Leibniz University Hannover Appelstr. 4 30167 Hannover Germany Lehrstuhl für Organic Computing Augsburg University Eichleitnerstr. 30 86159 Augsburg Germany

ISBN: (纸本)9789898565211

Within the last decade, technical systems that are capable of self-adaptation at runtime emerged as challenging approach to cope with the increasing complexity and interconnectedness in today's development and management processes. One major aspect of these systems is their ability to learn appropriate responses for all kinds of possibly occurring situations. Learning requires a goal function given by the user - which is subject to modifications at runtime. In order to allow for flexible manipulations of goals within the system's operation period, the learning component must be able to keep knowledge in order to respond to varying goals quickly. this paper describes attempts to implementing flexible learning in rule-based systems. First results show that efficient approaches are possible even in real-world applications. Copyright © 2012 SciTePress.

关键词： Learning systems

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Camera and Lidar Cooperation for 3D Feature Extraction 16

Camera and Lidar Cooperation for 3D Feature Extraction

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

作者： Gabriel, Burtin Patrick, Bonnin Florent, Malartre 4D Virtualiz 10 Allee Evariste Galois Clermont Ferrand France Univ Versailles St Quentin LISV 10-12 Ave Europe Velizy Villacoublay France

ISBN: (纸本)9789897583803

the objective of this work is to use efficiently various sensors to create a SLAM system. this algorithm has to be fast (real-time), computationally light and efficient enough to allow the robot to navigate in the environment. Because other processes embedded require large amount of cpu-time, our objective was to use efficiently complementary sensors to obtain a fairly accurate localization with minimal computation. To reach this, we used a combination of two sensors: a 2D lidar and a camera, mounted above each other on the robot and oriented toward the same direction. the objective is to pinpoint and cross features in the camera and lidar FOV. Our optimized algorithms are based on segments detection. We decided to observe intersections between vertical lines seen with the camera and locate them in 3D with the ranges provided by the 2D lidar. First we implemented a RGB vertical line detector using RGB gradient and linking process, then a lidar data segmentation with accelerated computation and finally we used this feature detector in a Kalman filter. the final code is evaluated and validated using an advanced real-time robotic simulator and later confirmed with a real experiment.

关键词： Line Segment Detection Algorithm Optimization Camera-lidar Sensor Fusion Localization Extended Kalman Filter

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