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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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Resolving the Problem of Non-integrability of Nullspace Velocities for Compliance control of Redundant Manipulators by using Semi-definite Lyapunov functions

Resolving the Problem of Non-integrability of Nullspace Velo...

引用

2008 IEEE international conference on robotics and automation (ICRA 2008), vol.5

作者： Christian Ott Andreas Kugi Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Japan Automation and Control Institute University of Technology Vienna Austria

In this paper a compliance control law for kinematically redundant manipulators is proposed. the controller contains a Cartesian compliance part and a nullspace compliance part which are complemented by a power-conserving decoupling term. the approach deliberately avoids inertia shaping in order to obtain a control law which does not require the measurement of external forces and becomes less sensitive with respect to model uncertainties. While the controller formulation explicitly uses nullspace velocity coordinates, no integration of these velocities is required. Except for the kinematic singularities of the manipulator's Jacobian matrix, no further algorithmic singularities are introduced. Asymptotic stability of the closed-loop system is shown by utilizing semi-definite Lyapunov functions. Finally, a short planar simulation study is presented which validates the effectiveness of the approach.

关键词： Velocity control Lyapunov method Jacobian matrices Automatic control Force measurement Robot kinematics Shape control Motion control Transmission line matrix methods robotics and automation

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ICINCO 2007 - Proceedings of the 4th international conference on informatics in control, automation and robotics

ICINCO 2007 - Proceedings of the 4th International Conferenc...

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4th international conference on informatics in control, automation and robotics, ICINCO 2007

the proceedings contain 67 papers. the topics discussed include: inner and outer approximation of capture basin using interval analysis;blind two-thermocouple sensor characterization;conjugate gradient techniques for multichannel adaptive filtering;mechanical system modeling of robot dynamics using a mass/pulley model;study of a controlled complex mechanical system in anti vibratory domain - application to a hard landing of an aircraft;time-frequency representation of instantaneous frequency using a Kalman filter;an investigation of extended Kalman filtering in the errors-in-variables framework - a joint state and parameter estimation approach;a state estimator for nonlinear stochastic systems based on dirac mixture approximations;a closed-form model predictive control framework for nonlinear noise-corrupted systems;and process control using controlled finite Markov chains with an application to a multivariable hybrid plant.

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Model-based automatic usability validation - A tool concept for improving web-based UIs 08

Model-based automatic usability validation - A tool concept ...

引用

NordiCHI 2008: Building Bridges - 5th Nordic conference on Human-Computer Interaction

作者： Atterer, Richard University of Munich Media Informatics Group Amalienstr. 17 80333 Munich Germany

ISBN: (纸本)9781595937049

this paper describes an approach for improving automated usability tool support during the development of websites. Existing usability and accessibility validators only analyse the HTML code of a page when they create a report of possible problems. However, when a web engineering method is used to create a website, additional information is available in the form of models which describe the site. An automated validator can use these models to verify usability guidelines (such as "text on the web page should be easy to understand by the target audience") with higher accuracy. It can also perform automatic validation in situations where existent tools only output instructions for manual inspection by the developer. the paper systematically analyses existent guidelines and tools, and identifies ways in which the use of a model can improve verification quality. An extension to existing web engineering models is necessary to support automated checkers. It specifies properties of the users, the technical platform and the environment of use. A flexible approach allows the models to be used by validators running inside an integrated development environment, but also at a later time, without access to the development environment. Finally, the prototype of a model-based automatic usability validator is presented. It features verification of a number of guidelines which cannot be automated by existent validation approaches. Copyright 2008 ACM.

关键词： automation

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Simple solution for visual servoing of camera-in-hand robots in the 3d Cartesian space

Simple solution for visual servoing of camera-in-hand robots...

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： Luis Hernandez Rene Gonzalez Hichem Sahli Javier Gonzalez Yoani Guerra Departamento de Automática y Sistemas Computacionales Universidad Central de las Villas Villa Clara Cuba Calle 4ta s/n e/ Ave Calixto García y Tirso Díaz Empresa de Automatización Integral (CEDAI) Villa Clara Cuba Department of Electronics and Informatics (ETRO) Vrije Universiteit Brussel Brussels Belgium

In this paper, the control problem, in a 3D cartesian space, of camera-in-hand robotic systems is considered. In this approach, a camera is mounted on the robot, at the hand, which provides an image of objects located in the robot environment. the aim of this approach is to move the robot arm in such a way that the image of the considered object, a sphere in our case, coincides with the center of the image, and its apparent radius is constant. We propose a simple image-based direct visual servo controller which requires the knowledge of the objects' radius, but it does not need to use the inverse Jacobian matrix. the robotic and vision system are modelled for small variations around the operating point for position control. In these conditions, the stability of the whole system is balanced and the characteristics for steady-state response for object trajectory are obtained. Both simulation and experimental results, using an ASEA-IRB6 robot manipulator, are presented to illustrate the proposed controller's performance.

关键词： Visual servoing Orbital robotics Robot vision systems control systems Cameras Servomechanisms Jacobian matrices Machine vision Position control Stability

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Simulation of fuzzy-modified expert PID algorithms for blood glucose control

Simulation of fuzzy-modified expert PID algorithms for blood...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Rob Susanto-Lee Tyrone Fernando Victor Sreeram School of Electrical Electronic and Computer Engineering University of Western Australia Crawley WA Australia

Previous research into blood glucose control using an Expert PID controller has yielded positive results. Blood glucose is attenuated and maintained within the desired range despite high starting levels and meal disturbances. the following simulation study aims to improve the performance of the above controller by incorporating fuzzy controllers into the algorithm. Certain aspects of previous simulations and clinical tests were retained. In particular, the patient model and its characteristics, the 5 minute sampling of the blood glucose level (simulating an actual Continuous Glucose Monitoring System or CGMS), and the Expert PID algorithm. the fuzzy-modified Expert PID algorithm resulted in an improved performance, and in turn a fuzzy PID controller based algorithm was attempted for comparison.

关键词： three-term control Blood Sugar Insulin Diabetes Fuzzy control Patient monitoring Automatic control robotics and automation Computational modeling

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Remote control of a multirobot infrastructure for E-learning training sessions

Remote control of a multirobot infrastructure for E-learning...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： th. Borangiu F. D. Anton S. Anton N. Ivanescu Department of Automation and Industrial Informatics University Politehnica of Bucharest Bucharest Romania

the paper describes a scientific project aiming to build up an R&D collaboration portal and communication platform for robot integration in on demand, flexible manufacturing structures and hands-on team training. the project offer a solution to control remotely a fault tolerant robotized manufacturing cell. the platform is a software product designed to support multiple remote connections with a number of Adept Technology V+ robot-vision controllers (masters over manufacturing workstations), either located in a local network or via Internet. Additionally, allows the transfer of multiple captured pictures to an IBM xSeries server for high-speed, parallel processing of images according to existing or new algorithms (enhancement, feature extraction for part flow management, guidance vision for robots (GVR), and automated visual inspection (AVI) from measurements based on vision tools).

关键词： Servers Robots Fault tolerant systems Fault tolerance Cameras Software Redundancy

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A novel modeling for a dual three-phase permanent magnet synchronous machine

A novel modeling for a dual three-phase permanent magnet syn...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Bulai Wang Gu Wei Jianxin Chu Guo Yi Department of electrical automation Shanghai Maritime University Shanghai China

A novel mathematic model for a dual three-phase permanent magnet synchronous machine(pmsm) was proposed. A set of equivalent three-phase windings was built based on same magnetomotive force and power. then it can substitute the old dual three-phase pmsm equivalently after a winding transformation. With the mathematical model of the three-phase pmsm in the rotary reference frame, the model of a dual three-phase pmsm is determined. A 6 pole dual three-phase pmsm was simulated and tested. Compared the simulation results with corresponding test results, the maximum error is lower than 5%. So this winding transformation and modeling method are validated and correct.

关键词： Permanent magnet machines Mathematical model Saturation magnetization Voltage robotics and automation Testing Equations Automatic control Robot control Robot kinematics

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Development of non conventional system for HMF detection in Indian honey Instrumentation systems

Development of non conventional system for HMF detection in ...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Rohini P. Mudhalwadkar A.A. Ghatol Department of Instrumentation and Control College of Engineering Pune India Dr. BAT University India

Apiculture is a growing industry in many parts of India, as honey is a popular sweetener throughout the world. Recent Indian regulations have set new quality requirements for honey. 5, HydroMethylFurfural (HMF), which is one of the dominant VOC in honey, required in quality determination. the methods used for detection of volatile organic compounds which indicates the quality of Indian honey are generally determined by analytical instrumental methods that will be able to differentiate one compound from another. Gas Chromatographs- Mass spectrometers equipped with headspace analyzer and High performance Liquid Chromatography are the common analytical methods. these are time-consuming, complex, expensive and requires expert analysts. In this paper a new approach towards quality detection in Indian honey using gas sensor is discussed. the developed system minimizes the time of analysis and the size of instrument. the system is developed as a user-friendly system which can be used by a common beekeeper for quality detection.

关键词： Instruments Gas detectors Performance analysis Sensor arrays Automatic control robotics and automation Volatile organic compounds Costs Robot control control systems

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Task space robot control using an inner pd loop

Task space robot control using an inner pd loop

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international conference on Electrical Engineering, Computing Science and Automatic control (CCE)

作者： R. Garrido E. Canul A. Soria

this paper presents a task-space robot controller composed of two nested loops. the inner loop corresponds to a proportional derivative joint controller and the outer loop consists of a proportional integral controller fed by task space measurements. Stability is studied by means of the Lyapunov method and a visual servoing application is considered for experimentally assessing the performance of the proposed controller.

关键词： Robot control Orbital robotics Robot kinematics Automatic control Jacobian matrices Proportional control Extraterrestrial measurements Position measurement PD control Service robots

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Multi-period decision for HRP of an employee leasing center with one type of employees

Multi-period decision for HRP of an employee leasing center ...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Mei Han Junqing Sun Institute of Technology for the Deaf Tianjin University of Technology Tianjin China Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology School of Computer Science Tianjin University of Technology Tianjin China

this paper studies the issue of human resource plan in an employee leasing center. the center is engaged in the business of leasing its own contract employees and acting as an agent for flexible employees outside the center. the employees considered in this paper belong to one type of employees that are high-ranked and important for the firms. But this type of employees can be classified into two parts: the contract employees in the employee leasing center and the temporary employees in the manpower market. At first we take into account recruitment/dismissal factors and propose stochastically optimal multi-period decision model of the problem. In the model there are stochastic constraint conditions and the decision (control) in each period is the number of the contract employees that are recruited or dismissed by the center and the objective is to maximize the overall expected net revenue of the center over planning horizon. then we transform the stochastic optimal control problem into the determined optimal control problem by transforming stochastic constraint conditions into determined constraint conditions. Furthermore we analyze the limits of the states in each period, develop a dynamic programming algorithm to search for an optimal solution to the problem and a heuristic approximate algorithm to find out an approximate optimal solution. Analyzing reveals that the heuristic algorithm is superior to the dynamic programming in time complexity. Finally, we use two algorithms to solve some simulating data case. the results reveal that the error between the two solutions is no more than 5% for each case.

关键词： Human resource management Paper technology Contracts Stochastic processes Optimal control Dynamic programming Heuristic algorithms robotics and automation Intelligent robots Sun

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