the conference, in its customary full name 2012 IEEE internationalconference on automation, Quality and Testing, robotics - thETA 18th edition, follows the tradition of the 17 automation and testing related scientifi...
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Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be inter...
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ISBN:
(纸本)9789898565211
Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be interesting low-cost actuators for such purposes. To fully realize the (desired) higher sensitivity and at the same time maintain a good control quality, detailed models of the robot's own components are required. For pneumatic muscles, their hysteresis characteristic is a challenging property. In this paper we present a hysteresis model based on a Prandtl-Ishlinskii operator approach and evaluate the resulting performance when the inverse model is used for compensation in the position controller. the evaluation is done on a real multi-axes robot arm.
Visual appearance based scene recognition has been widely studied in the past decade. However, such systems still present failures in dynamic, heterogeneous urban environments. this paper presents a methodology in ord...
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ISBN:
(纸本)9781467307024
Visual appearance based scene recognition has been widely studied in the past decade. However, such systems still present failures in dynamic, heterogeneous urban environments. this paper presents a methodology in order to integrate an advanced Adaptive Appearance Based Loop-Closing Detection algorithm into a graph optimization based Simultaneous Localization and Mapping algorithm. the system described uses stereo visual data, captured in discrete locations in order to detect loop-closure situations and to build, respectively update the topological map of a large, complex environment.
the implementation of a distributed control algorithm for the safe flight of Unmanned Aerial Vehicles (UAVs) in traffic conditions in an embedded processor unit is presented. Details on the implementation are given. T...
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Risk analysis in combination with terrain classification is a common approach in mobile robotics to adapt robot control to surface conditions. But for climbing robots it is hard to specify, how the robotic system and ...
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In the paper we recover the static characteristic of Wiener-Hammerstein (sandwich) system from inputoutput data. the system is excited and disturbed by random processes with arbitrary distribution. Two kernel-based es...
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An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can ...
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ISBN:
(纸本)9789898565211
An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can be solved in various ways. In this paper, tracking is provided using proportional-integral (PI) or fuzzy logic controller (FLC). Unfortunately, tracking is never perfect, due to uncertainties and obstacles can change their positions in time. In order to overcome these difficulties, additional correction controller must be used. Here is proposed fuzzy controller, which slightly changes control action of the tracking controller in order to prevent collision with obstacles. this approach is proved to be efficient even in dynamic environments. Simulation results are presented as illustration of the proposed approach.
Hybrid electric vehicles are one of the most suitable alternative for conventional automobiles. this paper describes a control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to ma...
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ISBN:
(纸本)9789898565211
Hybrid electric vehicles are one of the most suitable alternative for conventional automobiles. this paper describes a control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to maintain a reasonable state of charge (SOC), at the end of the drive cycle. the main goal is to split the requested power from the driver between the internal combustion engine, and the electric motor, such way to decrease the fuel consumption, and to maintain the dynamic performances. the algorithm was tested using Matlab Simulink and ADVISOR interface. the results include statistical comparisons of the standard drive cycles using default model and the modified control strategy.
A modification of the flocking algorithm approach for a swarm of underwater vehicles is introduced. the proposed approach relaxes the symmetry of the inter vehicle interaction. It is thus possible to change the swarm ...
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the paper introduces a new measurement device which allows collecting the chipping force in three directions and additionally the process temperature. the apparatus consists of a specially designed tool holder with in...
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