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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

共 2302 条记录，以下是351-360 订阅

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Computational experience in solving continuous-time algebraic Riccati equations using standard and modified newton's method

Computational experience in solving continuous-time algebrai...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Sima, Vasile Advanced Research National Institute for Research and Development in Informatics Bd. Mareşal Averescu Nr. 8-10 Bucharest Romania

ISBN: (纸本)9789898565709

Improved algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. the basic theory and Newton's algorithms are briefly presented. Algorithmic details the developed solvers are based on, the main computational steps (finding the Newton direction, finding the Newton step size), and convergence tests are described. the main results of an extensive performance investigation of the solvers based on Newton's method are compared with those obtained using the widely-used MATLAB solver. Randomly generated systems with orders till 2000, as well as the systems from a large collection of examples, are considered. the numerical results often show significantly improved accuracy, measured in terms of normalized and relative residuals, and greater efficiency than the MATLAB solver. the results strongly recommend the use of such algorithms, especially for improving the solutions computed by other solvers.

关键词： Newton-Raphson method

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Human-aware Robot Navigation in Logistics Warehouses 16

Human-aware Robot Navigation in Logistics Warehouses

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kenk, Mourad A. Hassaballah, M. Brethe, Jean-Francois Normandy Univ Electrotech & Automat Res Grp GREAH Le Havre France South Valley Univ Dept Math Qena Egypt South Valley Univ Dept Comp Sci Luxor Egypt

ISBN: (纸本)9789897583803

Industrial and mobile robots demand reliable and safe navigation capabilities to operate in human populated environments such as advanced manufacturing industries and logistics warehouses. Currently mobile robot platforms can navigate through their environment avoiding coworkers in the shared workspace, considering them as static or dynamic obstacles. this strategy is efficient for safety, strictly speaking, but is not sufficient to provide humans integrity and comfortable working conditions. To this end, this paper proposes a human-aware navigation framework for comfortable, reliable and safely navigation designed to run in real-time on a mobile robot platform in logistics warehouses. this is accomplished by estimating human localization using RGB-D detector, then generating a virtual circular obstacle enclosing human pose. this virtual obstacle is then fused with the 2D laser range scan and used in ROS navigation stack local costmap for human-aware navigation. this strategy guarantees a different approach distance to obstacles depending on the human or non-human nature of the obstacle. Hence the mobile robot can approach closely to pallet to pick up objects while maintaining an integrity distance to humans. the reliability of the proposed framework is demonstrated in a workbench of experiments using simulated mobile robot navigation in logistics warehouses environment.

关键词： Human-aware Navigation Collision Avoidance Human Detection in RGB-D Camera 2D-LIDAR Sensor Logistics Warehouses Mobile Robot Autonomous Navigation robotics

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Programmable multistable soft grippers 5

Programmable multistable soft grippers

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5th international conference on Soft robotics (RoboSoft)

作者： Osorio, Juan C. Morgan, Harith Arrieta, Andres F. Purdue Univ Dept Mech Engn W Lafayette IN 47907 USA

ISBN: (纸本)9781665408288

Soft robots have attracted significant interest due to their capability to interact, adapt and reconfigure in response to external stimuli. Due to their low modulus constitutive materials, intrinsic safety is embedded in softrobots, allowing them to perform tasks that are nearly impossible with rigid counterparts. Nevertheless, the resulting highly nonlinear response of such materials renders the kinematical prediction and control of soft robots challenging, ofter requiring sophisticated sensing and processing state processing algorithms. Leveraging multistability offers exciting opportunities to encode several stable states of soft robots, ultimately simplifying the actuation and control problems. We present a pneumatically actuated soft gripper with encoded multiple stable states that provide a route to shape reconfiguration without closed-loop control. Informed by the mechanics of hierarchically multistable metastructures, we design coexisting states resembling different actuation modes in soft manipulators, including grasping and twisting. this is achieved by leveraging distinct path-dependent inversion sequences to access desired coexisting states on-demand. Our strategy offers a new route for controlling soft multistable robots exploiting their strong nonlinear mechanics to the designer's advantage.

关键词： Shape Process control Soft robotics Robot sensing systems Prediction algorithms Manipulators Sensors

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Proposal of a viable commercial space infrastructure scenario introducing robotic vehicles in an earth orbit environment and its interfaces to the SPS-programme

Proposal of a viable commercial space infrastructure scenari...

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4th international conference on Solar Power from Space (SPS 04)/5th international conference on Wireless Power Transmission (WPT 5)

作者： Dittmann, R Sommer, B German Aerospace Centre Space Management General Technologies and Robotics Germany

ISBN: (纸本)9290928786

the German Space Programme with respect to automation and robotics (A&R) is focussing on the development of on-orbit-servicing (OOS) technologies and the demonstration of their capabilities. the utilization of OOS-technologies could gradually lead to a complete restructuring of the way how we usually do space today. the proposed future infrastructure scenario VERSICA (VERsatile Space Infrastructure Concept for Applications in space) encloses many elements which are inevitable if it comes to the mounting and the operation of huge solar power plants in space. As a consequence the realization of the vision will come along with the qualification and verification of key technologies needed for any SPS infrastructure concept. Vice versa a profound SPS scenario will be a major driver for the requirements which future OOS elements will have to meet. On that score it is recommended to start a dialog between the supporters of SPS and OOS technologies. thus the inherent synergies can be utilized to better meet the respective objectives.

关键词： Space research

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Parametric fault detection in nonlinear systems: A recursive subspace-based approach

Parametric fault detection in nonlinear systems: A recursive...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Gil, Paulo Santos, Fábio Cardoso, Alberto Palma, Luís Departmento de Engenharia Electrotécnica Faculdade de Ciências e Tecnologia Universidade Nova de Lisboa 2829-516 Caparica Portugal CISUC Informatics Engineering Department University of Coimbra Pólo II 3030-290 Coimbra Portugal Visteon Corporation Ltd. Electronics Product Group 2951-503 Palmela Portugal

ISBN: (纸本)9789898565709

this paper deals with the problem of detecting nolinear systems' parametric faults modeled as changes in the eigenvalues of a local linear state-space model. the linear state-space model approximations are obtained by recursive subspace system identification techniques, from which the eigenvalues are extracted at each sampling time. Residuals are generated by comparing the eigenvalues against those associated with a local nominal model derived from a neural network predictor describing the nonlinear plant dynamics in free fault conditions. Parametric fault symptoms are generated from the eigenvalues residuals, whenever a given predefined threshold is exceeded. the feasibility and effectiveness of the proposed framework is demonstrated in a practical case study.

关键词： Fault detection

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Autonomous trail following using a pre-trained deep neural network 15

Autonomous trail following using a pre-trained deep neural n...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Hoveidar-Sefid, Masoud Jenkin, Michael Electrical Engineering and Computer Science Department York Centre for Field Robotics Lassonde School of Engineering York University Toronto Canada

ISBN: (纸本)9789897583216

Trails are unstructured and typically lack standard markers that characterize roadways;nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail following by identifying the deviation of the robot from the heading angle of the trail through the refinement of a pretrained Inception-V3 (Szegedy et al., 2016a) Convolutional Neural Network (CNN) trained on the ImageNet dataset (Deng et al., 2009). A differential system is developed that uses a pair of cameras each providing input to its own CNN directed to the left and the right that estimate the deviation of the robot with respect to the trail direction. the resulting networks have been successfully tested on over 1 km of different trail types (asphalt, concrete, dirt and gravel). Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Deep neural networks

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From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator 18

From 2D to 3D Mixed Reality Human-Robot Interface in Hazardo...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Szczurek, Krzysztof Adam Prades, Raul Marin Matheson, Eloise Perier, Hugo Buonocore, Luca Rosario Di Castro, Mario European Org Nucl Res Meyrin Switzerland Jaume I Univ Castellon Castellon De La Plana Spain

ISBN: (纸本)9789897585227

3D Mixed Reality (MR) Human-Robot Interfaces (HRI) show promise for robotic operators to complete tasks more quickly, safely and with less training. the objective of this study is to assess the use of 3D MR HRI environment in comparison with a standard 2D Graphical User Interface (GUI) in order to control a redundant mobile manipulator. the experimental data was taken during operation with a 9 DOF manipulator mounted in a robotized train, CERN Train Inspection Monorail (TIM), used for the Beam Loss Monitor robotic measurement task in a complex hazardous intervention scenario at CERN. the efficiency and workload of an operator were compared with the use of both types of interfaces with NASA TLX method. the usage of heart rate and Galvanic Skin Response parameters for operator condition and stress monitoring was tested. the results show that teleoperation with 3D MR HRI mitigates cognitive fatigue and stress by improving the operators understanding of both the robot's pose and the surrounding environment or scene.

关键词： Human-Robot Interface robotics Teleoperation Virtual Reality Mixed Reality Operator Workload Galvanic Skin Response

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Machine Learning for Soft Robot Sensing and control: A Tutorial Study 5

Machine Learning for Soft Robot Sensing and Control: A Tutor...

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IEEE 5th international conference on Industrial Cyber-Physical Systems (ICPS)

作者： Wang, Huijiang thuruthel, thomas George Gilday, Kieran Abdulali, Arsen Iida, Fumiya Univ Cambridge Dept Engn Bioinspired Robot Lab Cambridge CB2 1PZ England

ISBN: (纸本)9781665497701

Developing feedback controllers for robots with embedded sensors is challenging and typically requires expert knowledge. As machine learning (ML) advances, the development of learning-based controllers has become more and more accessible, even to non-experts. this work presents the development of a tutorial to educate non-roboticists about ML-based sensing and control in cyber-physical systems using a soft robotic device. We demonstrated this by creating a recurrent neural network-based closed-loop force controller for a soft finger with embedded soft sensors. Our hypothesis is validated in a 2.5-hour workshop session for students with no prior knowledge of robot control. this work serves as a tutorial for participants aiming to experience and perform a general benchmark for soft robot control tasks, with little or even no expertise in robotics.

关键词： conferences Soft sensors Force Fingers Tutorials Machine learning Soft robotics

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Evolutionary symbiotic feature selection for email spam detection

Evolutionary symbiotic feature selection for email spam dete...

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9th international conference on informatics in control, automation and robotics, ICINCO 2012

作者： Cortez, Paulo Vaz, Rui Rocha, Miguel Rio, Miguel Sousa, Pedro Dep. Information Systems Centro Algoritmi Universidade do Minho Guimarães Portugal Dep. Information Systems Universidade do Minho Guimarães Portugal Dep. of Informatics CCTC Universidade do Minho Braga Portugal Dep. Electric and Electronic Engineering University College London Torrington Place London United Kingdom Dep. of Informatics Centro Algoritmi Universidade do Minho Braga Portugal

ISBN: (纸本)9789898565211

this work presents a symbiotic filtering approach enabling the exchange of relevant word features among different users in order to improve local anti-spam filters. the local spam filtering is based on a Content- Based Filtering strategy, where word frequencies are fed into a Naive Bayes learner. Several Evolutionary Algorithms are explored for feature selection, including the proposed symbiotic exchange of the most relevant features among different users. the experiments were conducted using a novel corpus based on the well known Enron datasets mixed with recent spam. the obtained results show that the symbiotic approach is competitive. Copyright © 2012 SciTePress.

关键词： Evolutionary algorithms

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Modal controllers Design of Interval Systems with Aperiodic Degree of Stability Based on the Method of Dominant Poles 5

Modal Controllers Design of Interval Systems with Aperiodic ...

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5th international conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2023

作者： Ezangina, Tatiana Gayvoronskiy, Sergey Sobol, Alexander National Research Tomsk Polytechnic University School of Computer Science & Robotics Tomsk Russia

ISBN: (纸本)9798350309126

the article deals with the problem of determining the parameterizations of a linear controller that provides aperiodic transient processes in a system with interval parameters. To cope with the above mentioned issue, a decomposition approach is proposed. It is based on dividing the characteristic polynomial of the system into a dominant one, which determines the dominant real pole, and a free one, which specifies the location of the remaining poles. In order to arrange the free poles at the maximum distance from the dominant one, the conditions for the maximum degree of dominance are specified. In this paper, a technique is described that has been developed for the modal design of linear controllers. Its application is considered through a numerical example. © 2023 IEEE.

关键词： Poles

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