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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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Modeling and Simulation of Mini Batch Distillation Column

Modeling and Simulation of Mini Batch Distillation Column

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international conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME)

作者： Renny Maulidda Pranoto Hidaya Rusmin Arief Syaichu Rohman Egi Muhammad Idris Hidayat Dimitri Mahayana School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia

Distillation is the most common method for separating components in chemical unit operation. In this study, Honeywell mini batch distillation column for laboratory scale is used for separating binary mixtures, ethanol and water. Nonlinear equations model of batch distillation column are presented in this paper based on component mass balance, vapor-liquid equilibrium and other physical characteristic. A reflux valve in the top of column is used as the input to control the amount of vapor into condenser and distillate product. the purity distillate is produced as the output of batch distillation column. the real nonlinear model parameters, based on experiment data, are calculated and simulated in Matlab.

关键词： Mathematical model Distillation equipment Ethanol Liquids Heating systems Valves Biological system modeling

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Design and Evaluation of a P300-ERP based BCI System for Real-Time control of a Mobile Robot

Design and Evaluation of a P300-ERP based BCI System for Rea...

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international conference on Brain-Computer Interface

作者： Damir Nurseitov Abzal Serekov Almas Shintemirov Berdakh Abibullaev Robotics and Mechatronics Deparment School of Science And Technology Nazarbayev University Qabanbay Batyr Ave 53 Astana 010000 Kazakhstan

ISBN: (纸本)9781509050970

With the development of Brain-Computer Interface (BCI) systems people with motor disabilities are able to control external devices using their thoughts. To control a device through BCI, brain activities of the user must be accurately translated to meaningful commands and a design of appropiate BCI paradigms play important roles in such tasks. this work presents a design and evaluation of a BCI system that is based on P300 Event-Related Potentials (ERP) in order to control a mobile robot platform into four directions (left, right, front, back). the ultimate goal of this research is to provide convienient way of controlling a mobile robot as an assistive home technology for disabled people. Low cost EPOC Emotiv headset was used in the BCI system to acquire brain signals with a Jaguar 4x4 Wheel robot as a control platform. We discuss a set of signal processing steps employed in detail and the utility of a regularized logistic regression classifier to detect visual stimuli induced P300 ERPs and, to control the Jaguar robot.

关键词： EPOC BCI ERPs

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Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom 13

Application of Trajectory Optimization Method for a Space Ma...

引用

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

作者： Rybus, Tomasz Seweryn, Karol Sasiadek, Jurek Z. Space Res Ctr CBK PAN Bartycka 18a Warsaw Poland Carleton Univ Dept Mech & Aerosp Engn Ottawa ON Canada

ISBN: (纸本)9789897581984

Planned active debris removal and on-orbit servicing missions require capabilities for capturing objects on Earth's orbit, e.g., by the use of a manipulator. In this paper we demonstrate the application of a trajectory optimization algorithm for free-floating satellite-manipulator systems in two cases: a planar system with 2 degrees of freedom manipulator and a spatial system with a manipulator having four degrees of freedom. For the case with planar system, results of experiments performed on an air-bearing microgravity simulator are shown. Quadratic norm connected with the power consumption of manipulator motors has been used as a cost functional that is minimized. Optimal trajectories are compared with straight-line trajectories and it is shown that the optimization allows reduction of the power use of manipulator motors (for the planar system 30 trajectories based on randomly selected initial and final end-effector positions were analysed and the cost functional was, on average, reduced by 49.4%). the presented method could be modified by using cost functional that would, e.g., minimize disturbance on the satellite.

关键词： Space robotics Free-floating Space Manipulator Trajectory Optimization On-orbit Servicing

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Radar and LiDAR Sensorfusion in Low Visibility Environments 13

Radar and LiDAR Sensorfusion in Low Visibility Environments

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

作者： Fritsche, Paul Kueppers, Simon Briese, Gunnar Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany Fraunhofer Inst High Frequency Phys & Radar Tech Fraunhoferstr 20 D-53343 Wachtberg Germany

ISBN: (纸本)9789897581984

LiDAR sensors are unable to detect objects that are inside or behind dense smoke, fog or dust. these aerosols lead to problems for environmental modeling with mobile robotic platforms. For example, if a robot equipped with a LiDAR is surrounded by dense smoke, it can neither localize itself nor can it create a map. Radar sensors, on the other hand, are immune to these conditions, but are unable to represent the structure of an environment in the same quality as a LiDAR due to limited range and angular resolution. In this paper, we introduce the mechanically pivoting radar (MPR), which is a 2D high bandwidth radar scanner. We present first results for robotic mapping and a fusion strategy in order to reduce the negative influence of the aforementioned harsh conditions on LiDAR scans. In addition to the metric representation of an environment with low visibility, we introduce the LRR (LiDAR-Radar-Ratio), which correlates with the amount of aerosols around the robot discussing its meaning and possible application.

关键词： Mobile robotics Low Visibility Environments FMCW-Radar LiDAR Sensorfusion Smoke Detection

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A Study of Fruit Reachability in Orchard Trees by Linear-Only Motion

A Study of Fruit Reachability in Orchard Trees by Linear-Onl...

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Vougioukas, Stavros G. Arikapudi, Rajkishan Munic, Joshua Univ Calif Davis Davis CA 95616 USA

Robotic fruit harvesters typically utilize multiple-degree-of-freedom arms, often kinematically redundant. the hypothesis is that as branches constrain fruit reachability, redundancy is necessary to navigate through branches and reach fruits inside the canopy. Modern commercial orchards increasingly adopt trees of SNAP architectures (Simple, Narrow, Accessible, and Productive). this paper presents a simulation study on linear fruit reachability (LFR) on high-density, trellised pear trees;linear only motion was used to reach the fruits. Results based on digitized geometric tree models and fruit locations showed that 91.1% of the fruits were reachable after three "harvesting passes" with proper approach angles. (C) 2016, IFAC (international Federation Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agriculture trees computer simulation robotics automation

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A comparative analisys of FACTS devices implemented in the Romanian power system 20

A comparative analisys of FACTS devices implemented in the R...

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20th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2016

作者： Gusa, D. Presada, G. Iordache Dragomir, I.M. Iliescu, S. St. National Dispatch Center Transelectrica Bucharest Romania Automatic Control and Industrial Informatics Department University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9781467386906

the paper describes the dynamic behavior of STATCOM device and a SVC device connected in the National Grid and shows simulation results. the operation principle of the two devices will be presented. the simulations were made using specialized software Eurostag. Various operation scenarios were simulated in order to show the impact on the transmission power grid. © 2016 IEEE.

关键词： Static synchronous compensators

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Wheelchair Assistance with Servo Braking control Considering Both the Gravitation-Negating and the User's Intention-based Assistance 13

Wheelchair Assistance with Servo Braking Control Considering...

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

作者： Chugo, Daisuke Goto, Nobuhiro Muramatsu, Satoshi Yokota, Sho Hashimoto, Hiroshi Kwansei Gakuin Univ Grad Sch Sci & Technol Sanda Hyogo Japan Tokai Univ Sch Informat Sci & Technol Hiratsuka Kanagawa Japan Toyo Univ Fac Sci & Engn Kawagoe Saitama Japan Adv Inst Ind Technol Shinagawa Ku Tokyo Japan

ISBN: (纸本)9789897581984

this paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively works to complement their intentional force by negating the wheel traction that is generated by the road's inclination using only the servo brakes on each wheel. Nevertheless, in some cases, our system fails to assist the driving motion of its user because the user drives the wheelchair in several ways that depend upon the environmental condition, for example, during uphill or downhill driving. the required assistance is not constant according to the situation, and it is difficult to assist with one wheel-control algorithm. therefore, in this study, we first investigate the required assistance condition according to the driving situation by conducting a preliminary experiment with wheelchair users. Considering the results of this investigation, we then propose a novel user interface that intuitively shows the system information and a wheel-control algorithm that selects a suitable wheel controller according to the driving situation.

关键词： Manual Wheelchair Assistance Passive robotics Servo Brake Gravitation-Negating control Algorithm User's Intention-based control Algorithm

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Use Case Evaluation of a Cloud robotics Teleoperation System 5

Use Case Evaluation of a Cloud Robotics Teleoperation System

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5th IEEE international conference on Cloud Networking (IEEE CloudNet)

作者： Manzi, Alessandro Fiorini, Laura Limosani, Raffaele Sincak, Peter Dario, Paolo Cavallo, Filippo Scuola Super Sant Anna BioRobot Inst Piazza Martini Liberta33 Pisa Italy TUKE Fac EE & Informat Dept Cybernet & AI Ctr Intelligent Technol Kosice Slovakia

ISBN: (纸本)9781509050932

the paper describes a generic Cloud robotics teleoperation system which allows to control in real-time a robot (connected with a 4G network) having its video stream as feedback. the proposed system relies on the Azure Cloud Platform and on recent web technologies. Particularly, we present an use case experiment in which an operator in Slovakia controls a robot situated in Italy in order to evaluate its real-time feasibility. We test the system to assess its performances providing the throughput value of the communication and the average delay between consecutive received packets on both robot and teleoperation side. Additionally, regarding the video streaming, we test several packet sizes to establish a suitable image quality. the results show how the chosen technology allows to have real-time performances in terms of video and velocity commands streaming.

关键词： Remote control

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Implementation of nonintrusive monitoring and fault diagnosis in industrial robot system 14

Implementation of nonintrusive monitoring and fault diagnosi...

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14th IEEE international conference on Industrial informatics (INDIN)

作者： Jokinen, Jani Lastra, Jose L. Martinez Tampere Univ Technol FAST Lab Tampere Finland

ISBN: (纸本)9781509028702

Monitoring and fault diagnosis systems are vital for industrial robot systems for better awareness of system status and shortening the down time. In many cases, the monitoring systems are not upgraded after the robot first installation, because the modifications could cause undesired disturbance for the production. However, for better monitoring and diagnostics rich information is essential that typically requires additional sensors and modifications to the robot system. this paper proposes a monitoring system that is possible to add-on to existing industrial robot system without any changes into the existing control and safety system. the statuses of all safety guard components are indirectly collected by optical sensors to ensure that safety aspects are maintained. the energy consumptions of the main components are monitored with energy analyser and nonintrusive current transformers. the proposed system also uses wireless technology for simplifying the installation. the main benefits of proposed solution are rapid deployment, easy scalability and enhanced fault diagnosis of the main components of the system.

关键词： monitoring system industrial automation robotics industrial safety energy monitoring embedded devices and systems

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robotics and programming: Attracting girls to technology 5

Robotics and programming: Attracting girls to technology

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5th international conference on Advances in Computing, Communications and informatics, ICACCI 2016

作者： Santos, Christiane Borges Ferreira, Deller James De Souza, Maria Carolina Borim Do Nascimento Rodrigues Martins, Andressa Rodrigues Instituto Federal de Goiás - IFG Goiânia Brazil Instituto de Informática Universidade Federal de Goiás - UFG Goiânia Brazil Mulheres Na Tecnologia - MNT Goiânia Brazil

this paper presents the Metabotix project: Teaching robotics and Programming for girls, which is being developed since 2014 at Instituto Federal de Goi5;s - Campus Luziânia, using free/open hardware and softw... 详细信息

ISBN: (纸本)9781509020287

this paper presents the Metabotix project: Teaching robotics and Programming for girls, which is being developed since 2014 at Instituto Federal de Goiás - Campus Luziânia, using free/open hardware and software, and recyclable electronic materials. the project counts on interdisciplinary methodology for learning robotics. Students apply the knowledge acquired in high school classes aiming to grow girls interest in STEM (science, technology, engineering and mathematics) areas. © 2016 IEEE.

关键词： Robot programming

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