this paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultan...
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ISBN:
(纸本)9789898565709
this paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. this is possible by a combination of linear algebra and nonlinear optimization techniques. the advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.
We underline the co-evolutionary progress from collaborative automation to the extended and integrated global enterprise through which Industrial informatics evolved mirroring the paradigm shifts in networking and com...
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ISBN:
(纸本)9781424408504
We underline the co-evolutionary progress from collaborative automation to the extended and integrated global enterprise through which Industrial informatics evolved mirroring the paradigm shifts in networking and communications under five years of tumultuous technological transformations. Latest trends that support the dynamic interplay of distributed intelligent technologies and services in today's complex and converging interdependent ecosystem of a networked world are revealed. Our efforts in setting up a solid foundation for prototyping and experimentation withthe tomorrow's industrial ecosystems in preparation to meet the upcoming challenges inherent in these future developments, are detailed.
the paper is devoted for a systematic discussion on the subspace based identification methods. the structure of the noise components acting additively at various system signals is considered as the guiding principle f...
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In this work, a quadruped robot designed for trotting gait with compliant leg is proposed. Based on the Spring-Loaded Inverted Pendulum model (SLIP), simplified models of different degrees of freedom (DOF) of the robo...
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the proceedings contain 79 papers. the topics discussed include: radar/lidar sensor fusion for car-following on highways;real world experiments of an autonomous mobile robot in the pedestrian environment;safe navigati...
ISBN:
(纸本)9781457703287
the proceedings contain 79 papers. the topics discussed include: radar/lidar sensor fusion for car-following on highways;real world experiments of an autonomous mobile robot in the pedestrian environment;safe navigating system for indoor environments;the design of a software-defined pc interface for mechatronic applications;a ping-pong ball catching and juggling robot: a real-time framework for vision guided acting of an industrial robot arm;active vision gaze control for mobile robot;design and calibration of a hybrid computer vision and structured light 3D imaging system;towards using virtual forces for image registration;vision based localization under dynamic illumination;a cost-effective stereo camera system for online pose control of patient handling robots;and resource limited hardware-based stereo matching for high-speed vision system.
Soft robotics embraces the design philosophy of function through morphology. therefore defining the affordances of a soft robotic structure is equivalent to determining the composition and distribution of the material...
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ISBN:
(纸本)9781665408288
Soft robotics embraces the design philosophy of function through morphology. therefore defining the affordances of a soft robotic structure is equivalent to determining the composition and distribution of the materials that make up the robot. this design process has historically been dominated by human intuition and labor-intensive experimentation. However, the design space of multi-material continuum structures is infinite. automation tools to accelerate soft robot design could enable new designs to be created on-demand, specific to a need, more rapidly and at lower cost than would be possible using human labor alone. In this work we formulate the soft robot design problem as a multi-objective optimization task. We demonstrate a design automation system for bending soft actuators which integrates multi-objective heuristic search with a powerful generative encoding that converts high level design goals, compliance and forcefulness in our case, into mechanical designs automatically. these designs can be directly fabricated using a 3-D printer. We compare numerous simulated results from our optimization and a physical instance fabricated via 3-D printing with a broad survey of contemporary results from the soft robotics literature.
the proceedings contain 34 papers. the topics discussed include: design and implementation of novel power electronic transformer for smart grid;fault tolerant control for a quad-rotor subjected to partial single-actua...
ISBN:
(纸本)9781665438490
the proceedings contain 34 papers. the topics discussed include: design and implementation of novel power electronic transformer for smart grid;fault tolerant control for a quad-rotor subjected to partial single-actuator fault;nonlinear model predictive control using state estimation for stabilization of vehicle dynamics to avoid the secondary accident;design, analysis and obstacle avoidance control of a smart wheelchair;design of fractional order controller for PMSM based on the improved particle swarm optimization algorithm;a novel reversal method for measurement of rotary manipulator geometric errors;and defect classification using pressure change of sleeve soldering machine.
the aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial Automat...
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ISBN:
(纸本)9781424437597
the aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). the special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. this approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.
Path planning and obstacle avoidance algorithms are requested for robots working in more and more complicated environments. Standard methods usually reduce these tasks to the search of a path composed from lines and c...
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ISBN:
(纸本)9789728865832
Path planning and obstacle avoidance algorithms are requested for robots working in more and more complicated environments. Standard methods usually reduce these tasks to the search of a path composed from lines and circles or the planning is executed only with respect to a local neighborhood of the robot. Sophisticated techniques allow to find more natural trajectories for mobile robots, but applications are often limited to the offline case. the novel hierarchical method presented in this paper is able to find a long path in a huge environment with several thousand obstacles in real time. the solution, consisting of multiple cubic splines, is optimized by Particle Swarm Optimization with respect to execution time and safeness. the generated spline paths result in smooth trajectories which can be followed effectively by nonholonomic robots. the developed algorithm was intensively tested in various simulations and statistical results were used to determine crucial parameters. Qualities of the method were verified by comparing the method with a simple PSO path planning approach.
In this paper, we propose using an approach based on the system-level programming language SystemJ extended with service oriented features, called SOSJ, to design dynamic interoperable software systems. the approach a...
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ISBN:
(纸本)9781538608371
In this paper, we propose using an approach based on the system-level programming language SystemJ extended with service oriented features, called SOSJ, to design dynamic interoperable software systems. the approach abstracts and integrates the worlds of automation and robotics systems by using a simple service interface based on abstract objects within SOSJ. We demonstrate our approach in a real-life automated bottling system scenario that uses multiple FESTO modular stations operating in SOSJ and integrating them with two Baxter robots operating in ROS without the need for any modification of the underlying mechatronics or robotics systems.
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