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Box-like Superquadric Recovery in Range Images by Fusing Region and Boundary Information

Box-like Superquadric Recovery in Range Images by Fusing Reg...

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international conference on Pattern Recognition

作者： D. Katsoulas D.I. Kosmopoulos Institute for Informatics and Telecommunications Computational Intelligence Laboratory National Centre for Scientific Research Athens Greece

ISBN: (纸本)0769525210

this work contributes to the robotic bin-picking problem, and more specifically to the problem of localizing piled box-like objects. We employ range imagery, and use box-like superquadrics for modeling the target objects. Our approach for superquadric segmentation is an extension of the widespread recover-and-select framework, which employs only region information and therefore suffers from the region over-growing problem. Our approach equally considers both region and boundary-based information for performing the recovery task. Extensive experimentation with a variety of target object configurations demonstrates that it outperforms the recover-and-select framework in terms of both robustness and computational efficiency. Moreover, if implemented in a parallel hardware environment, our approach can operate in real time

关键词： Service robots Image segmentation robotics and automation Laser modes Shape control Surface emitting lasers informatics Computational intelligence Laboratories Intelligent robots

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Power Quality Conditioning in Distributed Generation Systems

Power Quality Conditioning in Distributed Generation Systems

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CES/IEEE 5th international Power Electronics and Motion control conference

作者： R.K.Járdán I.Nagy Budapest University of Technology and Economics Department of Automation and Applied Informatics Goldmann Gy.t.3 H-1111 Budapest HUNGARY Budapest University of Technology and Economics Department of Automation and Applied Informatics Goldmann Gy.t.3 H-1111 Budapest HUNGARY Computer and Automation Institute Hungarian Academy of Science Kende 13-17 H-1111 Budapest Hungary

A novel solution for Power Quality Conditioning applied in Distributed Generation System is presented. the solution is exploiting the capabilities of the DC/AC converter of a system that has been developed to generate electric power by utilizing alternative, renewable and waste energies. the method described can also be applied in other fields of power electronics energy conversion. the solution of Power Quality Conditioning is based on the application of space vector theory, using an algorithm easy to implement. the theoretical analysis is confirmed by computer simulation results.

关键词： frame Power Quality Conditioning in Distributed Generation Systems

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Web-Based Support of Courses in Industrial and Automotive Mechatronics

Web-Based Support of Courses in Industrial and Automotive Me...

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international (EPE-PEMC) Power Electronics and Motion control conference

作者： Viliam Fedak Frantisek Durovsy Jan Fetyko Department of Electrical Mechatronic and Industrial Engineering Technical University of Kosice Slovakia SIEMENS s.r.o. branch Košice Industrial Applications and Solutions Slovakia Industrial Applications and Solutions SIEMENS Košice Slovakia

the paper starts with overview on needs and skills required by the engineers working in the mechatronic system environment, with special attention to the automotive and associated industries. After brief presentation of the background and courses in field of Mechatronics at the TU Kosice the paper show philosophy of the supporting web based interactive modules supporting the courses. they were developed not only in order to make education easier but also with the aim to attract the students to follow the accredited courses on Mechatronics.

关键词： Automotive engineering Mechatronics Continuous production informatics Road vehicles robotics and automation Manufacturing Electrical products industry Machinery production industries Metals industry

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Cognitive-Based Rules as a Means to Select Suitable Groupware Tools

Cognitive-Based Rules as a Means to Select Suitable Groupwar...

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IEEE international conference on Cognitive informatics

作者： Gabriela N. Aranda Aurora Vizcaino Alejandra Cechich Mario Piattini Jose Jesus Castro-Schez Computing Sciences Department Universidad Nacional del Comahue Buenos Aires Neuquén Argentina Information Systems and Technologies Department University of Castilla-La Mancha Paseo de la Universidad Ciudad Real Spain ORETO Research Group University of Castilla-La Mancha Paseo de la Universidad Spain

Global software development projects have to deal with a variety of challenges with respect to communication and control. For this reason, processes that are crucially based on communication, such as requirement elicitation, have to be specially rethought to minimize critical situations. As requirement elicitation is a human-centred process, we propose using techniques from the field of cognitive psychology to define a new approach towards it. In short, we intend to reduce problems in communication by selecting a suite of elicitation techniques and groupware tools, according to stakeholders' preference in styles. In this article we introduce our approach and show the generation process of a set of preference rules of groupware tools

关键词： Collaborative software Collaborative work Psychology Cognitive informatics Humans Software engineering Software performance Inspection Information systems Research and development

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Ontology for Cognitics, Closed-Loop Agility Constraint, and Case Study - a Mobile Robot with Industrial-Grade Components

Ontology for Cognitics, Closed-Loop Agility Constraint, and ...

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IEEE international conference on Industrial informatics (INDIN)

作者： Jean-daniel Dessimoz Pierre-francois Gauthey Carl Kjeldsen West Switzerland University of Applied Sciences Switzerland

the paper refers to intelligent industrial automation. the objective is to present key elements and methods for best practice, as well as some results obtained. the first part presents an ontology for automated cognition (cognitics), where, based on information and time, the main cognitive concepts, including those of complexity, knowledge, expertise, learning, intelligence abstraction, and concretization are rigorously defined, along with corresponding metrics and specific units. Among important conclusions at this point are the fact that reality is much too complex to be approached better than through much simplified models, in very restricted contexts. Another conclusion is the necessity to be focused on goal. Extensions are made here for group behavior. the second part briefly presents a basic law governing the choice of overall control architecture: achievable performance level of control system in terms of agility, relative to process dynamics, dictates the type of approaches which is suitable, in a spectrum which ranges from simple threshold-based switching, to classical closed-loop calculus (PID, state space multivariable systems, etc.), up to "impossible" cases where additional controllers must be considered, leading to cascaded, hierarchical control structures. For complex cases such as latter ones, new tools and methodologies must be designed, as is typical in O 3 NEIDA initiative, at least for software components. Finally, a large part of the paper presents a case study, a mobile robot, i.e. an embedded autonomous system with distributed, networked control, featuring industry-grade components, designed with the main goal of robust functionality. the case illustrates several of the concepts introduced earlier in the paper.

关键词： Ontologies Mobile robots control systems Intelligent robots robotics and automation Best practices Cognition Context modeling Calculus three-term control

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A feedback control approach to mitigating mistreatment in distributed caching groups

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5th international IFIP-TC6 Networking conference, NETWORKING 2006

作者： Smaragdakis, Georgios Laoutaris, Nikolaos Matta, Ibrahim Bestavros, Azer Stavrakakis, Ioannis Computer Science Dept Boston University BostonMA United States Dept of Informatics and Telecommunications University of Athens Athens Greece

ISBN: (纸本)3540341927

We consider distributed collaborative caching groups where individual members are autonomous and self-aware. Such groups have been emerging in many new overlay and peer-to-peer applications. In a recent work of ours, we considered distributed caching protocols where group members (nodes) cooperate to satisfy requests for information objects either locally or remotely from the group, or otherwise from the origin server. In such setting, we identified the problem of a node being mistreated, i.e., its access cost for fetching information objects becoming worse with cooperation than without. We identified two causes of mistreatment: (1) the use of a common caching scheme which controls whether a node should not rely on other nodes in the group by keeping its own local copy of the object once retrieved from the group;and (2) the state interaction that can take place when the miss-request streams from other nodes in the group are allowed to affect the state of the local replacement algorithm. We also showed that both these issues can be addressed by introducing two simple additional parameters that affect the caching behavior (the reliance and the interaction parameters). In this paper, we argue against a static rule-of-thumb policy of setting these parameters since the performance, in terms of average object access cost, depends on a multitude of system parameters (namely, group size, cache sizes, demand skewness, and distances). We then propose a feedback control approach to mitigating mistreatment in distributed caching groups. In our approach, a node independently emulates its performance as if it were acting selfishly and then adapts its reliance and interaction parameters in the direction of reducing its measured access cost below its emulated selfish cost. To ensure good convergence and stability properties, we use a (Proportional-Integral-Differential) PID-style controller. Our simulation results show that our controller adapts to the minimal access cost and outpe

关键词： controllers

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Voltage Spectra of three-Level Inverters with three-Phase Modulation

Voltage Spectra of Three-Level Inverters with Three-Phase Mo...

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CES/IEEE 5th international Power Electronics and Motion control conference

作者： S. Halász I. Varjasi Electric Power Engineering Department Budapest University of Technology and Economics Budapest HUNGARY Automation and Applied Informatics Department Budapest University of Technology and Economics Budapest HUNGARY

In the area of high voltages and powers, the high quality inverter-fed ac drive is more easily achieved by the use of three-level inverters. For three-level inverters three different PWM control regions can be introduced where different three-phase PWM strategies may be applied. this paper deals with the analysis of that three-phase PWM method of three-level inverters which ensures the lowest value of motor harmonic losses. However, the realization of this PWM method is not so simple as the space vector PWM. At the same time in the low and middle voltage area the space vector PWM method gives bigger harmonic losses than the optimal PWM method. the motor voltage spectrum derivation for both the optimal version and the space vector PWMs are given and the results are checked by straight harmonic computations and by simulations.

关键词： component three-level inverter, three-phase PWM techniques, voltage spectra, one and two carrier waves.

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LineScout Technology: Development of an Inspection Robot Capable of Clearing Obstacles While Operating on a Live Line

LineScout Technology: Development of an Inspection Robot Cap...

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IEEE international conference on Transmission and Distribution Construction, Operation and Live-Line Maintenance (ESMO)

作者： Serge Montambault Nicolas Pouliot Hydro-Québec (IREQ) Canada

Robotic systems are used in a range of applications to carry out inspection and repair tasks in hostile environments and in otherwise inaccessible locations. Applied robotics has found several niche applications in Hydro-Quebec operations. One example of a recently developed robotic solution for power line applications is the LineROVer Technology. Now that the technology has proven its worth for power system applications, the next logical step in the project is to develop a vehicle capable of clearing such obstacles as insulator strings, vibration dampers, aircraft warning spheres and corona rings. It must also clear spacer dampers and insulator strings as it travels along conductor bundles. the LineScout robot developed meets this requirement and can clear obstacles as it travels down a line. It can move along several axes, allowing it to adjust its shape in real time to various line configurations and to a wide range of obstacles while remaining as light and compact as possible. the robot's geometry was engineered to give it at least six possible obstacle-clearing sequences, making it versatile in unforeseen situations. the robot can operate on an energized line, has one-day battery life and can be remotely controlled 5 km away. the control approach and electronics allow intuitive human operation of the robot. Moreover, it can operate semi-autonomously, learning to clear obstacles by means of automated sequences. the LineScout Technology described in this paper is a versatile moving platform that extends live-line inspection capabilities and lends itself to future power line repair work

关键词： Inspection Robots Space technology Insulation robotics and automation Automatic control Power systems Vehicles Shock absorbers Damping

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Subspace identification methods: Review and re-interpretation

Subspace identification methods: Review and re-interpretatio...

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5th international conference on control and automation, ICCA'05

作者： Vajk, István Hetthéssy, Jeno Department of Automation and Applied Informatics Budapest University of Technology and Economics HAS-BUTE Control Research Group H 1521 Budapest Hungary

ISBN: (纸本)0780391381

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 for the analysis of the estimation algorithms. It is shown that replacing the state space approach typically applied in this field by a discrete time transfer function system realization the highly involved machinery of the subspace algorithms can be handled in a clearly ordered framework exhibited by a set of over-determined equations to be solved. © 2005 IEEE.

关键词： Identification (control systems)

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Two degree of freedom motion control of an energy optimized aircraft ram air inlet actuator

Two degree of freedom motion control of an energy optimized ...

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5th international conference on control and automation, ICCA'05

作者： Bajcinca, N. Schürmann, N. Bals, J. Institute of Robotics and Mechatronics German Aerospace Center DLR 82234 Oberpfaffenhofen Germany

ISBN: (纸本)0780391381

A high accurate position control structure for energy optimal actuation of an aircraft ram air inlet actuator is presented in this paper. the structure comprises a feedforward planning of the energy optimal reference motion profile, and a feedback position control with an inner loop for speed tracking control using a robust two degree of freedom (inverse disturbance observer) controller. the motion control structure is validated by simulation and experimental results under different load conditions. © 2005 IEEE.

关键词： Degrees of freedom (mechanics)

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