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

9th International Conference on Informatics in Control Autom...

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

ISBN: (纸本)9783319034997

the proceedings contain 24 papers. the special focus in this conference is on Intelligent control systems and optimization, robotics and automation and Signal processing, Sensors, systems modeling and control. the topics include: Adaptive flux observers and rotor speed sensor fault detection in induction motors;on visual analytics in plant monitoring;global optimization for 2D SLAM problem;stochastic models and optimization algorithms for decision support in spacecraft control systems preliminary design;a heuristic control algorithm for robust internal model control with arbitrary reference model;a multi-signal variant for the GPU - based parallelization of growing self - organizing networks;office delivery robot controlled by modular behavior selection networks with planning capability;visual SLAM based on single omnidirectional views;metrics for path planning of reconfigurable robots in uneven terrain;a combined direct and indirect adaptive control scheme for a wheeled mobile robot using multiple models;real - time visual servoing based on new global visual features;compliance error compensation in robotic - based milling;a modified LGMD based neural network for automatic collision detection;vision based motion estimation of obstacles in dynamic unstructured environments;real - time vision-based pedestrian detection in a truck's blind spot zone using a warping window approach and a proposal of risk indexes at signalised intersections for ADAS aimed to road safety;a component-oriented model for wastewater pumping plants and a system identification framework for modeling complex combustion dynamics using support vector machines.

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Optimal design and control of a Stewart-Gough Platform 7

Optimal design and control of a Stewart-Gough Platform

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7th IEEE international conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE international conference on robotics, automation and Mechatronics, RAM 2015

作者： Vinh, Nguyen Xuan Ha, Le Quoc thanh, Nguyen Minh Lam, Nguyen Ngoc Quoc, Le Hoai Vietnam National University University of Science Ho Chi Minh City Viet Nam Vietnam Research Institute of Electronics Informatics and Automation - VIELINA Ho Chi Minh City Viet Nam Saigon Hi-tech Park Training Center - SHTP Ho Chi Minh City Viet Nam Saigon Hi-tech Park - SHTP Ho Chi Minh City Viet Nam

ISBN: (纸本)9781467373364

this paper presents the results of optimal design and control for a Stewart-Gough Platform. An experimental system was designed for the optimization of the parallel manipulator control based on a selected optimal configuration. this system is an open design for variation different configurations and controllers to support parallel manipulator research and applications. A parameters space investigation (PSI) algorithm with the Pareto optimal set was used to optimize parallel manipulator configuration with limited survey workspace. A tradition PID control and a self-tuning Fuzzy PID control algorithm were applied for real-time motion control of parallel manipulator. Quality system standards will be analyzed with different controllers. the system can be a useful tool for research and training purposes. © 2015 IEEE.

关键词： controllers

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A nonlinear H-infinity feedback control approach for asynchronous generators 5

A nonlinear H-infinity feedback control approach for asynchr...

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5th international conference on Clean Electrical Power, ICCEP 2015

作者： Rigatos, Gerasimos Siano, Pierluigi Cecati, Carlo Unit of Industrial Automation Industrial Systems Institute Rion-Patras26504 Greece Department of Industrial Engineering University of Salerno Fisciano84084 Italy Department of Informatics University of l' Aquila L' Aquila67100 Italy

ISBN: (纸本)9781479987047

A new method for feedback control of asynchronous electrical machines is introduced, with application example the problem of doubly-fed induction generators (DFIGs). the control method consists of a repetitive solution of an H-infinity control problem for the DFIG, that makes use of a locally linearized model of the generator and takes place at each iteration of the control algorithm. the asynchronous generators model is locally linearized round its current operating point through the computation of the associated Jacobian matrices. Using the linearized model of the generator an H-infinity feedback control law is computed. the known robustness features of H-infinity control enable to compensate for the errors of the approximate linearization, as well as to eliminate the effects of external perturbations. the efficiency of the proposed control scheme is shown analytically and is confirmed through simulation experiments. © 2015 IEEE.

关键词： Riccati equations

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RoboTeam Rescue 5

RoboTeam Rescue

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5th IEEE Integrated STEM Education conference (ISEC)

作者： Uribe, Lisbeth Eguchi, Amy Sch Columbia Columbia MO USA

ISBN: (纸本)9781479918294

RoboTeam is an after-school competitive robotics club for grades 4 through 8 at the School at Columbia. Each year, 20-35 students compete in RoboCupJunior competitions at the local, regional and, if we qualify, international level. As part of preparing for the RoboCupJunior Rescue competitions, each student maintained a journal of his or her work and ideas, constructed robots with sensors and created elaborate programs designed to control the robots. the students program their small compact robots to search for and rescue ""victims"" and avoid obstacles within a simulated disaster field that has two floors connect by a ramp. As robots successfully accomplish specific tasks within a discrete time frame, the teams are awarded points.

关键词： Engineering design process K-12 Educational robotics RoboCupJunior

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Application of Sensory Body Schemas to Path Planning for Micro Air Vehicles (MAVs) 12

Application of Sensory Body Schemas to Path Planning for Mic...

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

作者： Enikov, Eniko T. Escareno, Juan-Antonio Univ Arizona Dept Aerosp & Mech Engn 1130 N Mt Ave Tucson AZ 85721 USA Inst Polytech Sci Avancees IPSA Directorate Res & Innovat DRII 7-9 Rue Maurice Grandcoing F-94200 Ivry France

ISBN: (纸本)9789897581496

To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured be dedicated high-power computers with IR tracking capability. If MAV-s are to ever exit the lab and carry out autonomous missions, their flight control systems needs to utilize on-board sensors and high-efficiency attitude determination algorithms. To address this need, we investigate the feasibility of using body schemas to carry out path planning in the vision space of the MAV. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. this paper presents a numerical experiment of generating landing trajectories of a miniature rotor-craft using the notion of body and image schemas. More specifically, we demonstrate how a trajectory planning can be executed in the image space using a pseudo-potential functions and a gradient-based maximum seeking algorithm. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the rotor-craft position/attitude and the output of its vision sensors. Numerical simulations of the landing performance of a physical model is also presented, the resulting trajectory tracking errors are less than 8 %.

关键词： Micro-Air Vehicles Artificial Neural Network Path Planning Body Schema Cognitive robotics

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RoboTeam Dance 5

RoboTeam Dance

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5th IEEE Integrated STEM Education conference (ISEC)

作者： Uribe, Lisbeth Eguchi, Amy Sch. at Columbia New York NY USA

ISBN: (纸本)9781479918294

RoboTeam is an after-school competitive robotics club for grades 4 through 8 at the School at Columbia. Each year, 20-35 students compete in RoboCupJunior competitions at the local, regional and, if we qualify, international level. As part of preparing for the RoboCupJunior Dance competitions, each student maintained a journal of his or her work and ideas, constructed robots with sensors and created elaborate programs designed to control the robots. they collaborated with teammates when creating original music, choreography, sets and costumes for both the robotic and human performers. the students are intrigued and engaged by the challenges of building and programming robots to make real what they have imagined. they also delight in the artistic aspect of preparing for robotic dance competitions.

关键词： Engineering design process K-12 Educational robotics STEAM RoboCupJunior

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A bio-syncretic micro-swimmer assisted by magnetism 5

A bio-syncretic micro-swimmer assisted by magnetism

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5th international conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2015

作者： Zhang, Chuang Wang, Wenxue Xi, Ning Wang, Yuechao Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781467396257

control and actuation are the most important factors that determine the performance of traditional electromechanical robots. Bio-syncretic actuators are a potential trend for the next generation of robots to overcome the challenges in the control and actuation faced by the traditional robots and many novel bio-syncretic actuators have been reported with various biological entities. However, none of these works considers the movement control of such bio-syncretic robots. In this paper, we propose a new actuation approach strategy to assist bio-actuation with remote magnetic field, and present a dolphin-shaped micro-swimmer. Cardiomyocytes are used for bio-actuation. the mathematical model for the micro-swimmer is developed and is validated by comparing the experimental result and simulation result based on the properties of beating cells measured by SICM and AFM. this work is fundamental to the development of bio-syncretic robots. © 2015 IEEE.

关键词： Magnetism

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robotics Based Simultaneous Localization And Mapping of an Unknown Environment using Kalman Filtering 5

Robotics Based Simultaneous Localization And Mapping of an U...

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5th Nirma University international conference on Engineering (NUiCONE)

作者： Mane, Akshay A. Parihar, Mahesh N. Jadhav, Sharad P. Digey, Bhavesh B. Ramrao Adik Inst Technol Dept Instrumentat Engn Nerul Navi Mumbai India

ISBN: (纸本)9781479999910

In this paper, Robotic application using a microcontroller ATmega2560 based kit mounted with low cost IR sensors for mapping and localization of unknown area is accurately carried out by using Kalman Filtering to determine or measure different parameters. this paper highlights the comparision between the accuracies of output data obtained from IR sensor using Average Technique as well as Kalman Filter. Various cases depending on robot movement in forward and backward direction and wheel rotation in clockwise and anticlockwise direction, are considered in this paper to calculate position encoder resolution. Also probabilistic estimation of actual position of robot is carried out using different techniques i.e Probabiity Density Function (P.D.F) for verifying the uncertainity in its position and found to be very close to actual position. Simultaneous Localization And Mapping (SLAM) is the only way a robot can navigate through an unknown environment with the use of minimum sensors and get reliable output of the same in identifying an unknown area. Using this method the robot not only create a map more accurate than GPS maps but also localize itself to determine its next position according to the map created more accurately at lower cost. Primarily used for creating a map of an unknown location, this concept can also be used to perform Qualitative Analysis of a given area by equipping the robot with appropriate sensors.

关键词： Kalman filtering robotics mapping automation

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the water coastline detection approaches based on USV vision 5

The water coastline detection approaches based on USV vision

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5th Annual IEEE international conference on Cyber Technology in automation, control and Intelligent Systems, IEEE-CYBER 2015

作者： Dong, Huiying Peng, Xu Qian, Liu Xu, Hongli School of Information Sciences and Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781479987290

Inorder to avoide the obstacle objects when the unmaned watersurface vehicle (USV) navigating on the water surface, a coastline detected approach is presented in this paper. By using the video camera on robot boat, the riparian under the surface of the natural environment is detected so as for autonomous obstacle avoidance and navigation. the algorithm is based on the traditional LOG edge detection method and improving this algorithm by stretching gray scale of the second derivative. then convolution and threshold by Otsu algorithm are used to segement the coastline. the simulation results show that this approach can denoise the influence of the surface disturbances and complex background affects. It is faster and more accurate than the traditional LOG algorithm, and it can also improve the riparian positioning accuracy. through the real applying this algorithm can efficiently and real time work in USV system. © 2015 IEEE.

关键词： Video cameras

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Representations of body schemas for infant robot development 5

Representations of body schemas for infant robot development

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5th IEEE Joint international conference on Development and Learning and on Epigenetic robotics (IEEE ICDL-EpiRob)

作者： Shaw, Patricia Law, James Lee, Mark Aberystwyth Univ Dept Comp Sci Aberystwyth SY23 3FG Dyfed Wales Univ Sheffield Sheffield Robot Sheffield S10 2TN S Yorkshire England Univ Sheffield Dept Automat Control & Syst Engn Sheffield S10 2TN S Yorkshire England

ISBN: (纸本)9781467393201

Psychological studies have often suggested that internal models of the body and its structure are used to process sensory inputs such as proprioception from muscles and joints. Within robotics, there is often a need to have an internal representation of the body, integrating the multi-modal and multi-dimensional spaces in which it operates. Here we propose a body model in the form of a series of distributed spatial maps, that have not been purpose designed but have emerged through our experiments on developmental stages using a minimalist content-neutral approach. the result is an integrated series of 2D maps storing correlations and contingencies across modalities, which has some resonances with the structures used in the brain for sensorimotor coordination.

关键词： body model Psychological Studies representations Internal representations Body Proprioception Body Representation robotics Robot Developmental stages Infant Joints Joints series (mathematics) maps

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