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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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Hints in low cost solutions for networked control systems

Hints in low cost solutions for networked control systems

引用

ICCC 2007 - 5th IEEE international conference on Computational Cybernetics

作者： Preitl, S. Precup, R.-E. Fodor, J. Takács, M. Politehnica University of Timisoara Dept. of Automation and Applied Inf. B.dul V. Parvan No. 2 RO-300223 Timisoara Romania Budapest Tech. Polytechnical Institution John von Neumann Faculty of Informatics Bécsi út 96/B H-1034 Budapest Hungary

ISBN: (纸本)1424411467

the paper presents aspects regarding different possibilities to represent the control problems in networked control systems (NCSs) characterized by variable time delays. the operational computations in linear systems analysis and design for the plants specific to NCSs with emphasis on the transfer functions, rot loci and frequency domain analysis are investigated. Low cost linear and fuzzy control solutions are offered to compensate for the time delays. ©2007 IEEE.

关键词： Networked control systems

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Integrative modeling of liver organ for simulation of flexible needle insertion

Integrative modeling of liver organ for simulation of flexib...

引用

9th international conference on control, automation, robotics and Vision

作者： Chui, C. -K. Teoh, S. -H. Ong, C. -J. Anderson, J. H. Sakuma, I. Natl Univ Singapore Singapore 117548 Singapore Johns Hopkins Univ Sch Med Baltimore MD USA Univ Tokyo Grad Sch Frontier Sci Tokyo Japan

ISBN: (纸本)9781424403417

A straight line needle trajectory is typically used in medical needle insertion for percutaneous intervention. Flexible needle steering may be able to avoid obstacles, and reach regions that are currently inaccessible using straight line trajectory. the success of flexible needle insertion in clinical application, for example, biopsy to obtain a tissue sample from human liver organ is dependent on how accurate the motion path can be planned and simulated. We developed a motion planning algorithm for flexible needle insertion with an integrative model of human liver organ, and finite element models of needle and needle-tissue interaction. the aim of image based integrative modeling is to have a unified organ model of patient comprising finite element and implicit surface models of blood vessels, normal and pathological tissues. the trajectory path can be determined in an interactive manner. the generated trajectory for flexible needles avoids obstacles (vessels) to reach target (tumor) inaccessible to rigid needles. the algorithm can also be used to simulate needle bending due to dynamic contact with tumor.

关键词： steerable needle motion planning surgical simulation liver medical robotics

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Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality 14th

Behavior-Based Obstacle Detection in Off-Road Environments C...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wolf, Patrick Ropertz, thorsten Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9783030112929;9783030112912

In off-road environments, the assessment and classification in travers-able and non-traversable areas is a challenging task. Not only does the drive-ability depend on the vehicle's state in combination with the environmental geometry, but also the assessment is complicated by noisy and wrong sensor data. thereby, faulty evaluation may lead to severe harm to goods or people since either safety issues or reliability problems are caused. While for the control part behavior-based systems proved to be suitable due to their inherent robustness against unforeseen situations, robust perception is still an unsolved problem leading to severe system failures. this paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. therefore, a new concept of data quality in behavior-based systems and methods for quality aware data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture.

关键词： Behavior-based control Quality-based perception Obstacle avoidance Off-road robotics

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Wheelchair Assistance with Servo Braking control Considering Both the Gravitation-Negating and the User's Intention-based Assistance 13

Wheelchair Assistance with Servo Braking Control Considering...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Chugo, Daisuke Goto, Nobuhiro Muramatsu, Satoshi Yokota, Sho Hashimoto, Hiroshi Kwansei Gakuin Univ Grad Sch Sci & Technol Sanda Hyogo Japan Tokai Univ Sch Informat Sci & Technol Hiratsuka Kanagawa Japan Toyo Univ Fac Sci & Engn Kawagoe Saitama Japan Adv Inst Ind Technol Shinagawa Ku Tokyo Japan

ISBN: (纸本)9789897581984

this paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively works to complement their intentional force by negating the wheel traction that is generated by the road's inclination using only the servo brakes on each wheel. Nevertheless, in some cases, our system fails to assist the driving motion of its user because the user drives the wheelchair in several ways that depend upon the environmental condition, for example, during uphill or downhill driving. the required assistance is not constant according to the situation, and it is difficult to assist with one wheel-control algorithm. therefore, in this study, we first investigate the required assistance condition according to the driving situation by conducting a preliminary experiment with wheelchair users. Considering the results of this investigation, we then propose a novel user interface that intuitively shows the system information and a wheel-control algorithm that selects a suitable wheel controller according to the driving situation.

关键词： Manual Wheelchair Assistance Passive robotics Servo Brake Gravitation-Negating control Algorithm User's Intention-based control Algorithm

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In-vitro optically aided robotics manipulation

In-vitro optically aided robotics manipulation

引用

2011 IEEE 5th international conference on robotics, automation and Mechatronics, RAM 2011

作者： Tan, ChingSeong Cheng, ChiaLoon Chia, KokSiang Faculty of Engineering Multimedia University Cyberjaya Campus 63100 Cyberjaya Selangor Malaysia Mechatronics and Biomedical Engineering Universiti Tunku Abdul Rahman KL Campus Jalan Genting Kelang 53300 KL Malaysia

ISBN: (纸本)9781612842509

this paper demonstrates the embedded application of a novel manipulator design for field robotics applications, specifically for underwater robotics applications. the In-Vitro Optically Aided Robotic Manipulation (IVOARM) constitutes a blind grasping concept using two anthropomorphic fingers with the aid of the directional force sensors and infra-red sensors mounted on it. this design is potentially useful in underwater marine sample manipulation tasks as it includes non-contact and contact based sensing at the finger tips. this manipulator is controlled by an embedded system with high DSP compatibility. the infra-red sensors are mounted on the surface of the finger gripper to detect the presence of the object in the area of the grasping. Our finding shows that the infra-red sensor is capable of differentiating the water condition due to temperature effect. the size and centroid of the object is determined with the aid of the in-vitro embedded infra-red sensors. We proposes a centroid estimation algorithm to determine the size and initiate the grasping configuration of the object. the results of the object size determination using the IVOARM is presented. © 2011 IEEE.

关键词： Manipulators

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A Modular Soft Robotic Arm with Embedded Tactile Sensors for Proprioception 5

A Modular Soft Robotic Arm with Embedded Tactile Sensors for...

引用

5th international conference on Soft robotics (RoboSoft)

作者： Ouyang, Wenye He, Liang Albini, Alessandro Maiolino, Perla Univ Oxford Oxford Robot Inst 23 Banbury Rd Oxford OX2 6NN England

ISBN: (纸本)9781665408288

Soft robotic arms are designed to execute dexterous tasks safely in cluttered environments due to their inherent compliance and infinite degrees of freedom. Closed-loop control requires proprioceptive sensing to retrieve the spatial configuration of the robot. However, the integration of soft sensing in the soft continuum body is still an ongoing challenge. In this paper, we present a highly integrated pneumatically actuated soft robotic arm that consists of 1) an omnidirectional actuator design for multi-material 3D printing, 2) a modular approach with fast assembling connectors and 3) a tactile sensing array embedded in the joint of each module. the in-joint placement of the tactile sensing array is used to map the variation of stress distribution between the two connected modules and the posture of the actuator with learned k-nearest neighbors regression. the experimental results showed that the method estimated the posture of a three-segment soft arm with a mean error of 5.64 mm for the tip location.

关键词： Mechanical sensors Actuators Tactile sensors Soft robotics Pneumatic systems Manipulators three-dimensional printing

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A Study of Fruit Reachability in Orchard Trees by Linear-Only Motion

A Study of Fruit Reachability in Orchard Trees by Linear-Onl...

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Vougioukas, Stavros G. Arikapudi, Rajkishan Munic, Joshua Univ Calif Davis Davis CA 95616 USA

Robotic fruit harvesters typically utilize multiple-degree-of-freedom arms, often kinematically redundant. the hypothesis is that as branches constrain fruit reachability, redundancy is necessary to navigate through branches and reach fruits inside the canopy. Modern commercial orchards increasingly adopt trees of SNAP architectures (Simple, Narrow, Accessible, and Productive). this paper presents a simulation study on linear fruit reachability (LFR) on high-density, trellised pear trees;linear only motion was used to reach the fruits. Results based on digitized geometric tree models and fruit locations showed that 91.1% of the fruits were reachable after three "harvesting passes" with proper approach angles. (C) 2016, IFAC (international Federation Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agriculture trees computer simulation robotics automation

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A crawling robot driven by a folded self-sustained oscillator 5

A crawling robot driven by a folded self-sustained oscillato...

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5th international conference on Soft robotics (RoboSoft)

作者： Yan, Wenzhong Mehta, Ankur Univ Calif Los Angeles Dept Mech & Aerosp Engn Los Angeles CA 90095 USA Univ Calif Los Angeles Dept Elect & Comp Engn Los Angeles CA 90095 USA

ISBN: (纸本)9781665408288

Locomotive robots that do not rely on conventional discrete electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting their applications. Here, we develop an easy-to-fabricate crawling robot by embedding simple control and actuation into origami-inspired mechanisms through folding, eliminating the need for discrete electronics and transducers. Our crawling robot locomotes through directional friction propelled by an onboard origami self-sustained oscillator, which generates periodic actuation from a single source of constant power. the crawling robot is lightweight (similar to 3.8 gram), ultra low-cost (similar to US $1), nonmagnetic, and electronic-free;it may enable practical applications in extreme environments, e.g., large radiation or magnetic fields. the robot can be fabricated through a monolithic folding-based method with universal materials, i.e., thin-film sheets and conductive threads. this rapid design and fabrication approach enables the programmable assembly of various mechanisms within this manufacturing paradigm, laying the foundation for autonomous, untethered robots without requiring electronics.

关键词： Legged locomotion Fabrication Transducers Friction Propulsion Soft robotics Transient analysis

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Enhanced physical interaction performance for compliant joint manipulators using proxy-based sliding mode control 11

Enhanced physical interaction performance for compliant join...

引用

11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Kashiri, Navvab Tsagarakis, Nikos G. Van Damme, Michäel Vanderborght, Bram Caldwell, Darwin G. Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy Department of Mechanical Engineering Vrije Universiteit Brussel Brussels Belgium

ISBN: (纸本)9789897580406

the use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. this paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. the formulation of Proxy-based Sliding Mode control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. the performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

关键词： controllers

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Soft Passive Swimmer Optimization: From Simulation to Reality Using Data-Driven Transformation 5

Soft Passive Swimmer Optimization: From Simulation to Realit...

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5th international conference on Soft robotics (RoboSoft)

作者： Obayashi, Nana Bosio, Carlo Hughes, Josie Ecole Polytech Fed Lausanne CREATE Lab Lausanne Switzerland Scuola Super Sant Anna Pisa Italy

ISBN: (纸本)9781665408288

Soft, bio-inspired robotic swimmers are showing significant potential in terms of efficient motion and maneuverability. However, modeling and understanding the fluid-structure interactions between compliant soft bodies and water is highly complex, limiting our ability to optimize or understand the effect of both design and controller parameters. We propose combining simulation of soft passive swimming structures with experimental data to improve the accuracy of the simulation by identifying the transformation which best maps the simulation to this experimental data. this allows us to leverage the physics that are captured by the simulations whilst closing the sim-to-real gap by using a limited amount of experimental data. We use this approach to model a simple, modular robotic system based upon passive tentacles and show how we can close the reality gap and optimize the design of the tentacle structures. this optimized structure is used to create a full robot swimmer, where the optimized tentacles can be used to create a robot with a swimming speed of 6.2 cm/s, and can introduce a rudder like 'deflector' to also control the direction of the robot's motion.

关键词： Robot motion Bio-inspired robotics Limiting conferences Biological system modeling Soft robotics Data models

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