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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

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DESIGN AND DEVELOPMENT OF AN AUTONOMOUS AGRICULTURAL DRONE FOR SOWING SEEDS

DESIGN AND DEVELOPMENT OF AN AUTONOMOUS AGRICULTURAL DRONE F...

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Brunei international conference on Engineering and Technology

作者： Md. Abu Jubair Sajid Hossain Md. Abdullah Al Masud Kazi Mahmud Hasan S. H. Shah Newaz Md. Shamim Ahsan Electronics and Communication Engineering Discipline Khulna University Khulna 9208 Bangladesh School of Computing and Informatics Universiti Teknologi Brunei (UTB) Gadong Brunei Darussalam KAIST Institute for Information Technology Convergence 291 Daehak-ro Yuseong-gu Daejeon 34141 South Korea

this paper demonstrates the design and fabrication of an autonomous agricultural drone for sowing seeds in the crop fields. In order to reduce the seeds sowing time, a seed sowing device has been specially developed and integrated with the quad-copter agricultural drone. the drone consists of a global positioning system (GPS) and an auto-pilot device, the flight path of which is controllable from the ground control station. the flying path can be programmed in the Mission-Planner software before the drone flight starts and can be altered if required. In addition, the agricultural drone is manually controllable using a long-range remote controller. It can fly under variable altitude where the maximum altitude is - 500 meter. the drone can fly at a maximum speed of 14.76 km/hour. the maximum seeds sowing rate of 498 m~2/min is achieved for an altitude of 5 meter. At this seeds sowing rate, the mode value of seeds' distance is ～2.5cm. We can control the seeds sowing rate by controlling various operational modes of the seeds sowing device. the proposed agricultural drone will reduce the seeds sowing time significantly and contribute towards the automation of the agricultural sector.

关键词： Agricultural drone Autonomous Seed sowing

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Straight Line Generation by a Serial Two-Link Manipulator: Design and Analysis 5

Straight Line Generation by a Serial Two-Link Manipulator: D...

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5th international conference on Instrumentation, control, and automation (ICA)

作者： Rajan, Nikhil Sasi Yadav, Vineet Krishnan, Shri Hari Gupta, Arpan Ghosh, Rajesh Indian Inst Technol Mandi Sch Engn Mandi 175005 India

ISBN: (纸本)9781538603499

A two-link manipulator can act as a simple robot for various purposes. Present work describes a two-link manipulator for generating a straight line. the problem, although quite straight forward, has many practical implementation issues. this paper describes a numerical model and experiment with two servo motors controlled by a Raspberry Pi and a 12-bit counter motor driver (PCA9685). Various parameters were found responsible for the error in trajectory traversed by the end-effector of a two-link manipulator as compared to the numerical model. the errors in various parameters were incorporated in the numerical model to obtain a better prediction of traversed path. Further, a new control method was proposed and implemented experimentally to obtain a good match with numerical results. the advantage of proposed method is to obtain accurate path generation using low bit resolution motor driver and to overcome motor non-linearity.

关键词： robotics two-link manipulator raspberry pi control path tracking trajectory accuracy

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Cognitively inspired artificial bipedal humanoid gait generation

Cognitively inspired artificial bipedal humanoid gait genera...

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5th IEEE international Work conference on Bio-Inspired Intelligence, IWOBI 2017

作者： Kuteken, R.S. Batista, R.F. Rosario, J.M. Laboratory of Automation and Robotics University of Campinas Integrated Systems Department Campinas-SP Brazil

ISBN: (纸本)9781538608500

the biomechanical gait is a complex and robust task that demands little conscious effort of an individual to perform. this article proposes a methodology for artificially generating a bipedal humanoid gait pattern for the knee and hip leg joints in the sagittal plane. the lower limbs movement is divided into three complementary patterns of movement, each with a specific function, which can be modulated individually and superposed to compose a gait pattern. this strategy is based on the potential field navigation algorithm concept [1] and the architecture for its application is based on the AuRA cognitive architecture [2]. the methodology was validated using a MATLABTM implementation of a simplified kinematic model of the legs movements. the results show movement patterns close to the biomechanical ones at the joints. When applied to the kinematic model, those movement patterns generate feet trajectories that are consistent to the biomechanical gait both in shape and amplitude. the strategy was also embedded in a microcontrolled prototype, revealing low computational demands as well as another view for the generated movement. © 2017 IEEE.

关键词： Kinematics

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Doctoral Consortium on informatics in control, automation and robotics, DCINCO 2015;in conjunction with the 12th international conference on informatics in control, automation and robotics, ICINCO

Doctoral Consortium on Informatics in Control, Automation an...

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Doctoral Consortium on informatics in control, automation and robotics, DCINCO 2015;in conjunction with the 12th international conference on informatics in control, automation and robotics, ICINCO 2015

the proceedings contain 4 papers. the topics discussed include: community driven artificial intelligence development for robotics;multi-objective optimization for control and process operation;augmented reality interface design for autonomous driving;and design of robust control strategy for non-linear multivariable systems with delay, parametric uncertainty and external disturbances.

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Robust control of a non-minimum phase system in presence of actuator saturation

Robust control of a non-minimum phase system in presence of ...

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international conference on control, Instrumentation, and automation

作者： Y. Salehi M. A. Sheikhi M. Motaharifar H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) K.N. Toosi University of Technology

ISBN: (纸本)9781538621356

In this paper robust controller synthesis for a nonminimum phase (NMP) system in presence of actuator saturation is elaborated. the nonlinear model of a system is encapsulated with a nominal model and multiplicative uncertainties. Two robust control approaches namely mixed sensitivity H ∞ and μ-synthesis are compared from the robust stability and robust performance points of views. Finally, through simulation results it is demonstrated that both the robust controller approaches have superior performance compared to that of a conventional PID controller, while H ∞ controller performs best.

关键词： Uncertainty Robustness Actuators Robust stability Robust control Nonlinear systems Closed loop systems

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Symbol Emergence in robotics for Modeling Human-Agent Interaction 17

Symbol Emergence in Robotics for Modeling Human-Agent Intera...

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5th international conference on Human Agent Interaction (HAI)

作者： Nagai, Takayuki Univ Electrocommun 1-5-1 Chofugaoka Chofu Tokyo 1828585 Japan

ISBN: (纸本)9781450351133

Human intelligence is deeply dependent on its physical body, and its development requires interaction between its own body and surrounding environment including other agents. However, it is still an open problem that how we can integrate the low level motor control and the high level symbol manipulation system. One of our research goals in the area called "symbol emergence in robotics" is to build a computational model of human intelligence from the motor control to the high level symbol manipulation. In this talk, an unsupervised on-line learning algorithm, which uses a hierarchical Bayesian framework for categorizing multimodal sensory signals such as audio, visual, and haptic information by robots, is introduced at first. the robot uses its physical body to grasp and observe an object from various viewpoints as well as listen to the sound during the observation. the basic algorithm for intelligence is to categorize the collected multimodal data so that the robot can infer unobserved information better and we call the generated categorizes as multimodal concepts. the latter half of this talk discusses an integrated computational model of human intelligence from the motor control to the high level cognition. the core idea is to integrate the multimodal concepts and reinforcement learning. Furthermore, this talk attempts to model communication within the same framework since the self-other discrimination process can be seen as the multimodal categorization of sensory-motor signals.

关键词： Symbol emergence language acquisition human-robot interaction mental model of others

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Fuzzy Logic controller Design and Implementation for Delayed and Nonlinear Time Variant Batch Distillation Column 5

Fuzzy Logic Controller Design and Implementation for Delayed...

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5th international conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering, ICICI-BME 2017

作者： Dwisaputra, Indra Pranoto Hidaya, R. Arief Syaichu, R. Hidayat, Egi M. I. Mahayana, Dimitri Handoko, Anton Sapto Department of Electro and Informatics Engineering Politeknik Manufaktur Negeri Bangka Belitung Sungailiat Indonesia School of Electrical Engineering and Informatics Bandung Institut of Technology Bandung Indonesia Research Unit for Mineral Technology Indonesian Institute of Sciences Bandar Lampung Indonesia

ISBN: (纸本)9781538634554

Distillation column is a non-linear time variant system with delay time. It is very difficult to model due to the difficulty in obtaining parameters in real time during the distillation process. Fuzzy Logic control (FLC) method is suitable for solving the above problem. the advantages of fuzzy controllers based on fuzzy logic systems are intuitive designs which reflect the behavior of human operators and the fact that controlled process models are not required. Design and implementation of FLC in the batch column distillation have been done. FLC is particularly designed to overcome those problems using 2 inputs (error and time) and 1 output reflux ratio. PID controller is also designed as a comparison. the implementation used 3 liters of low concentration ethanol (30%). the setpoint is set up in 80% concentrate. the results show that FLC is able to keep product concentration steady up to 1 hour 6 minutes 40 seconds with maximum overshoot of 1.9%. © 2017 IEEE.

关键词： Distillation columns

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informatics in control, automation and robotics: 12th international conference, ICINCO 2015 Colmar, Alsace, France, 21-23 July, 2015 revised selected papers 12th

Informatics in control, automation and robotics: 12th intern...

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Filipe, Joaquim Gusikhin, Oleg Madani, Kurosh Sasiadek, Jurek INSTICC Polytechnic Institute of Setúbal Setúbal Portugal Ford Research and Advanced Engineering DearbornMI United States Créteil France Mechanical and Aerospace Engineering Carleton University OttawaON Canada

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Combining safety and security analysis for industrial collaborative automation systems

Combining safety and security analysis for industrial collab...

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international conference on Computer Safety, Reliability, and Security, SAFECOMP 2017 and 5th international Workshop on Assurance Cases for Software-Intensive Systems, ASSURE 2017, 12th Workshop on Dependable Embedded and Cyber-physical Systems and Systems-of Systems, DECSoS 2017, 6th international Workshop on Next Generation of System Assurance Approaches for Safety Critical Systems, SASSUR 2017, 3rd international Workshop on Technical and Legal Aspects of Data Privacy and Security, TELERISE 2017 and 2nd international Workshop on the Timing Performance in Safety Engineering, TIPS 2017

作者： Plósz, Sándor Schmittner, Christoph Varga, Pál Department of Safety and Security Austrian Institue of Technology Vienna1220 Austria Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Budapest1117 Hungary

ISBN: (纸本)9783319662831

In collaborative automation systems, providing both security and safety assessments are getting increasingly important. As IoT systems gain momentum in the industrial domain, experts stress their concerns about security and safety. Improperly or carelessly deployed and configured systems hide security threats, and even raise issues on safety, as their behavior can threaten human life. the cloud based back-ends are getting used for processing sensor data – on the other hand, legacy equipment, which may contain sensitive information, is made interoperable with broader infrastructure. Safety risks can be triggered by attacks on the backend and confidential information is at risks by attacks on legacy equipment. In order to maintain safe and secure operations, safety and cyber-security assessment methods have been established. there is an increased demand in modern industrial systems to perform these regularly. these methods however require a lot of time and effort to complete. A solution to this problem would be combining the assessments. this requires that proper safety and security analysis methods must be selected – those that have compatible elements. In this paper we propose a method that combines the elements of existing methodologies, in order to make the safety and security analysis process more effective. Furthermore, we present a case study, where we verified the combined methodology. © Springer international Publishing AG 2017.

关键词： Accident prevention

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Automatic region-of-interest selection for corn seed grading 5

Automatic region-of-interest selection for corn seed grading

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5th international conference on Computer, control, informatics and its Applications, IC3INA 2017

作者： Prakasa, Esa Rosiyadi, Didi Ni'Mah, Driszal Fryantoni Iftitahu Khoiruddin, Arwan Ahmad Lestriandoko, Nova Hadi Suryana, Nana Fajrina, Nur Research Center for Informatics LIPI Bandung Indonesia East West Seed Indonesia Purwakarta West Java Indonesia

ISBN: (纸本)9781538639788

Corn is an agricultural product that has been consumed either as food or alternative energy sources. To satisfy these needs, it is important to certainly obtain the best seed quality. the corn seeds are obtained from planted corn at particular environment. the seed quality might be vary due to soil and weather condition. Corn experts normally observe and determine corn seed quality based on their visual assessment. Corn kernels should be removed from the corn cob to obtain the seeds. the assessment can be difficult if the seeds are collected from various regions. Manual assessment is also influenced by subjectivity of the corn experts. Imaging based algorithm is proposed to assess corn seed quality. Region of interest selection is the initial step of quality assessment. In the selection, the algorithm have to correctly define corn seed location and the boundary box of the seeds. Automatic Region-of-Interest (ROI) selection is developed to provide images containing a single corn. therefore, total number of ROI images will be similar with total number of seed in the image. the paper presents an algorithm for automatically selecting ROI of corn seed. Based on the evaluation results, automatic ROI selection has been proven with most of segmentation accuracies are higher than 90%. By applying this algorithm, the corn quality can then be analysed in every single seed. © 2017 IEEE.

关键词： Grading

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