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Force-position exponential tracking of redundant manipulators with model-free sliding PD control

Force-position exponential tracking of redundant manipulator...

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

作者： D. Navarro-Alarcon V. Parra-Vega Robotics and Advanced Manufacturing Division Research and Advanced Studies Center of National Polytechnic Institute of Mexico Mexico

A passivity-based model-free second order sliding mode controller is proposed for redundant manipulators under holonomic constraints. the closed-loop system enforces exponential tracking on the exerted contact force and the end-effector cartesian position trajectories as the primary task, while the controller reconfigures dynamically the whole kinematic chain in order to satisfy a secondary task through the redundant constrained degrees of freedom. To achieve this, the orthogonalization principle and the proposed redundancy resolution technique, are together synthesized for redundant constrained robots. this way, two pairs of orthogonal subspaces arises, the joint velocity and contact force orthogonal pair, and the end-effector velocity and null space orthogonal pair. therefore, independent control on the end-effector cartesian position and the exerted contact force can be achieved, while proper control of the null space variables will allow to simultaneously carry out a secondary task, by locally optimizing a given cost function. Simulation results of the 7 degrees of freedom PA10 Mitsubishi robot manipulator performing tracking tasks on the cartesian, force, and null space (redundancy) subspaces are presented.

关键词： PD control Force control Null space Manipulator dynamics Sliding mode control Orbital robotics Trajectory control systems Kinematics Cost function

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Pedestrian detection using color symmetry phases

Pedestrian detection using color symmetry phases

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international conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： J. Janta P. Kumsawat K. Attakitmongcol A. Srikaew Robotics Automation Research Unit for Real-World Applications Intelligent System Group School of Electrical Engineering Suranaree University슠of Technology Nakhon Ratchasima Thailand

Pedestrian detection is one of the most important research contents of road safety. the crucial idea behind such pedestrian safety systems is to protect the driver and pedestrian from any accident. In this paper, a pedestrian feature extraction based on color symmetry phases is presented. By examining symmetry phases in multiple color spaces, the segmentation results are significantly improved which allows support vector machines to be able to efficiently classify and recognize the pedestrian. the proposed system is capable of detecting multiple pedestrians from complex background and providing size and position information of pedestrians within the image. Pedestrians with different sizes, shapes, postures, and clothes can be detected effectively. Results and discussions are presented.

关键词： Image color analysis Feature extraction Shape Pixel Manganese Motion segmentation Image segmentation

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Integrating vision-based motion planning with defeasible decision making for the Khepera robot

Integrating vision-based motion planning with defeasible dec...

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

作者： Edgardo Ferretti Roberto Kiessling Alejandro Silnik Ricardo Petrino Marcelo Errecalde Laboratorio de Electrónica Laboratorio de Investigación y Desarrollo en Inteligencia Computacional Argentina Universidad Nacional de San Luis San Luis Argentina

Intelligent mobile robots need the ability to combine autonomous navigation with high-level reasoning. this paper integrates a defeasible decision making technique and vision-based motion planning. the problem faced comprises a scenario where a Khepera 2 robot has to perform removal tasks of different size objects. this problem can be conceptually divided in two stages: (a) to decide the objects transportation order, and (b) to plan and control the robot motion. the decision making task is carried out using the facilities provided by the cognitive layer of the Khe-DeLP framework, while the motion planning is performed using a smooth shortest path control generated from visual information.

关键词： Motion planning Decision making Robot vision systems Motion control Intelligent robots Mobile robots Navigation Cognitive robotics Transportation Robot control

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Grape leaf disease detection from color imagery using hybrid intelligent system

Grape leaf disease detection from color imagery using hybrid...

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5th international conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON 2008), vol.1

作者： A. MEUNKAEWJINDA P. KUMSAWAT K. ATTAKITMONGCOL A. SRIKAEW Robotics & Automation Research Unit for Real-World APplications Suranaree University of Technology Nakhon Ratchasima THAILAND

Vegetables and fruits are the most important export agricultural products of thailand. In order to obtain more value-added products, a product quality control is essentially required. Many studies show that quality of agricultural products may be reduced from many causes. One of the most important factors of such quality is plant diseases. Consequently, minimizing plant diseases allows substantially improving quality of the products. this work presents automatic plant disease diagnosis using multiple artificial intelligent techniques. the system can diagnose plant leaf disease without maintaining any expertise once the system is trained. Mainly, the grape leaf disease is focused in this work. the proposed system consists of three main parts: (i) grape leaf color segmentation, (ii) grape leaf disease segmentation, and (iii) analysis & classification of diseases. the grape leaf color segmentation is pre-processing module which segments out any irrelevant background information. A self-organizing feature map together with a back-propagation neural network is deployed to recognize colors of grape leaf. this information is used to segment grape leaf pixels within the image. then the grape leaf disease segmentation is performed using modified self-organizing feature map with genetic algorithms for optimization and support vector machines for classification. Finally, the resulting segmented image is filtered by Gabor wavelet which allows the system to analyze leaf disease color features more efficient. the support vector machines are then again applied to classify types of grape leaf diseases. the system can be able to categorize the image of grape leaf into three classes: scab disease, rust disease and no disease. the proposed system shows desirable results which can be further developed for any agricultural product analysis/inspection system.

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

ICINCO 2007 - 4th International Conference on Informatics in...

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ICINCO 2007 - 4th international conference on informatics in control, automation and robotics, Proceedings 2007年 SPSMC卷 XV-XVI页

作者： Zaytoon, Janan Cetto, Juan Andrade Ferrier, Jean-Louis Filipe, Joaquim Crestic URCA France Institut de Robotica i Informatica Industrial CSIC-UPC Spain Universite dAngers France Polytechnic Institute of Setiibal INSTICC Portugal

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A robotic needle guide for prostate brachytherapy

A robotic needle guide for prostate brachytherapy

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IEEE international conference on robotics and automation (ICRA)

作者： Septimiu E. Salcudean thomas D. Prananta William J. Morris Ingrid Spadinger Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada Department of Radiation Oncology Vancouver Cancer Centre British Columbia Cancer Agency 600 West 10th Avenue V5Z-4E6 Canada Department of Medical Physics Vancouver Cancer Centre British Columbia Cancer Agency BC Canada

Low dose rate prostate brachytherapy involves the permanent implant of radioactive sources into the prostate region using needles. We present a four-degree-of-freedom robot for prostate brachytherapy. the robot can translate a needle guide in the X-Y plane allowing for precise needle insertion along the Z direction. It can also rotate the guide about the X and Y axes, providing thus fine control over the needle insertion point and angle. the robot is light and mountable on a standard brachytherapy stepper. It is non- back-drivable providing a stable needle insertion direction when the power is off. It allows for manual control of each of the motor axes for fine positioning and has a quick-release mechanism for gross translation of the needle guide. We present the robot design and the performance characteristics of the prototype we built. the robot has an interface that allows the guide to be stepped through a complete treatment plan. A radiation oncologist implanted a phantom according to a treatment plan. Only 32 minutes were required for the complete implant that had 26 needles with 136 seeds. this demonstrates that, in spite of its increased flexibility of use, the robotic guide does not add to the procedure time.

关键词： Robots Needles Brachytherapy Ultrasonic imaging robotics and automation Implants Cancer Imaging phantoms Neoplasms Interference

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Performance comparison of multicast-encouraging Explicit Rate Adjustment and packet-pair layered multicast

Performance comparison of multicast-encouraging Explicit Rat...

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international conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Somnuk Puangpronpitag Jaturapad Pratum Computer Science Faculty of Informatics Mahasarakham University Thailand Computer Science Department Science Khon Kaen University Thailand

Multicast-encouraging explicit rate adjustment (MeERA) and packet-pair receiver-driven cumulative layer multicast (PLM) are two of the recently proposed receiver-driven layered multicast congestion control protocols. Both have used explicit rate adjustment techniques in detecting and controlling congestion. Both have also been evaluated by their authors and claim a few advances. However, there is no known study that evaluates these protocols in comparison. In this work, we evaluate both of them in comparison using criteria such as responsiveness, the efficiency of network utilization, fairness, TCP-friendliness, fast convergence, coordination of receivers behind the same bottleneck link, and feasibility in terms of implementation. Performance evaluation is done using a network simulator (ns2).

关键词： Bandwidth Receivers Protocols Proposals Convergence Unicast Probes

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ILP formulation of signal power based routing for single and multilayer optical networks

ILP formulation of signal power based routing for single and...

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international conference on Broadband Networks (BroadNets)

作者： Marcell Perenyi Szilard Zsigmond Tibor Cinkler Department of Telecommunication and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In both metropolitan optical networks (MON) and long haul optical networks (LHON) the signal quality is often influenced by the physical impairments, therefore a proper impairment based routing decision is needed. In this paper we propose new routing and wavelength assignment (RWA) methods where the control plane has influence on the signal power of the Wavelength Division Multiplexed (WDM) channels. Nowadays in nearly all kinds of reconfigurable optical add-drop multiplexers (ROADM) the signal power can be tuned via variable optical attenuators (VOA) from the control plane. We give the exact integer linear programming (ILP) formulation of the method for both single and multilayer networks. In the first case we assume that no signal regeneration is allowed along the path, while in the more complex multilayer case 3R signal regeneration, grooming and wavelength conversion can all be done in the electronic layer. the proposed algorithm can be used in existing WDM optical networks where the nodes support signal power tuning. the algorithm finds the global optimum, if it exists, for a certain network topology, physical constraints and demand set.

关键词： Nonhomogeneous media Optical fiber networks Wavelength division multiplexing Optical attenuators Optical variables control Optical wavelength conversion Wavelength routing Wavelength assignment Optical add-drop multiplexers Optical control

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A novel method for harmonics and low switching-frequency eliminations for a three-phase PWM inverter

A novel method for harmonics and low switching-frequency eli...

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IEEE SSD international Multi-conference on Systems, Signals and Devices

作者： O. Bouchhida A. Tlemcani D. Boudana K. Benmansour A. Cherifi M.S. Boucherit Département du Génie Electrique Ecole Nationale Polytechnique Laboratoire de Commande des Processus Algiers Algeria Laboratory of Robotics IUT Mantes-en-Yvelines Mantes la Jolie France

Harmonics and switching frequency cause a major problem in power system. A novel harmonic elimination technique and low switching frequency in a three-phase pulse width modulation (PWM) inverter are proposed in this paper. this inverter is associated with a LC filter. the technique determines the commutation angles based by solving a set of nonlinear system equations. this commutation angles are determined off-line (Pre-Calculed) and stored in the microcontroller memory in order to speed up the online control of the processes. the pre-calculated switching is modelled to cancel the greater part of low-order harmonics and to keep a single-pole dc voltage across the polarized capacitors. LC filter is designed to cancel the high-order harmonics. this approach allows substantial reduction of the harmonic ratio in the AC main output voltage without increasing the switching-frequency per period. Consequently, the duties of the semiconductor power switches are alleviated. To show the validity of the new harmonic elimination and low switching-frequency, DSP based experimental results are presented. these results are very satisfactory and prove the effectiveness of the new approach.

关键词： Inverters Power harmonic filters Harmonic analysis Pulse width modulation Switches Mathematical model Power system harmonics

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Simulation of industrial applications using the execution environment SCXML

Simulation of industrial applications using the execution en...

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5th IEEE international conference on Industrial informatics

作者： Moura, Raimundo Santos Guedes, Luiz Affonso Department of Informatics and Statistics UFPI Department of Computer Engineering and Automation UFRN

ISBN: (纸本)9781424408504

the design engineers need to use high level formalisms to facilitate the development, maintenance, and documentation of the industrial control systems. these formalisms must permit the modeling, formal validation, and code generation to PLC. this paper discusses statechart for modeling of industrial systems, and presents a case study that simulates the general schema of the industrial automation process, based in PLC. the case study was implemented with java technologies, and was simulated using the execution environment developed by the Jakarta Project Commons SCXML.

关键词： Industrial applications

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