the proceedings contain 228 papers. the topics discussed include: an effective hybrid swing-up and stabilization controller for the inverted pendulum-cart system;on the physical meaning of minimization criterion for m...
ISBN:
(纸本)9781424467259
the proceedings contain 228 papers. the topics discussed include: an effective hybrid swing-up and stabilization controller for the inverted pendulum-cart system;on the physical meaning of minimization criterion for model predictive control;design optimization methods of an intelligent controller from a speed control system;modeling and PID controller design for a quadrotor unmanned air vehicle;process control simulator using programmable controller technology;controllers tuning for the speed vector control of induction motor drive systems;hardware and software development of an intelligent pneutronic robot;visual robot guidance in conveyor tracking with belt variables;a model for the kinematical analysis of a six degrees of freedom parallel robot;and autonomous mobile robot with displacements in a vertical plane and applications in cleaning services.
In this paper, extended experience-repository-based Particle Swarm Optimization (EERPSO) is proposed for effectively applying Particle Swarm Optimization (PSO) to evolutionary robotics applications. It is an extension...
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In this paper, extended experience-repository-based Particle Swarm Optimization (EERPSO) is proposed for effectively applying Particle Swarm Optimization (PSO) to evolutionary robotics applications. It is an extension of our previous algorithm, called experience-repository-based Particle Swarm Optimization (ERPSO) which has the fast convergence property. the ERPSO uses a concept an experience repository to store previous position and fitness of particles of the PSO algorithms to accelerate the convergence speed. EERPSO additionally has an experience repository manager that selects particles to be included in the experience repository, and improved estimated best position selection mechanism in the ERPSO that balance exploitation and exploration of the EERPSO. We applied the EERPSO to find parameters of a gait of a quadruped robot for producing a fast gait. the EERPSO showed best performance among the original PSO, PSO and PSO variants, and ERPSO.
this paper describes our work towards preliminary evaluation of LTE/5G cellular communication for robotics motion planning and control. the work comprises the development of communication architecture, motion planning...
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ISBN:
(纸本)9781728129891
this paper describes our work towards preliminary evaluation of LTE/5G cellular communication for robotics motion planning and control. the work comprises the development of communication architecture, motion planning and a demonstrator that validates the feasibility of the proposed approach. In the demonstrated use case, a stationary robot arm picks and places workpieces from/onto a moving mobile platform while relying only on the mobile platform's localization measurements communicated over LTE connection and not using any external sensors. We describe the approach, obtained results, shortcomings, and promising future directions.
the industrialized production of barley grass requires precise control of each growth period and effective detection of the disease state. Compared with visual detection, multispectral detection could achieve precise ...
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this paper discusses low level control of the humanoid UT-theta which has been been developed at the University of Tokyo. this innovative humanoid walking robot is equipped with knee joint switchable between active an...
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the proceedings contain 228 papers. the topics discussed include: an effective hybrid swing-up and stabilization controller for the inverted pendulum-cart system;on the physical meaning of minimization criterion for m...
ISBN:
(纸本)9781424467259
the proceedings contain 228 papers. the topics discussed include: an effective hybrid swing-up and stabilization controller for the inverted pendulum-cart system;on the physical meaning of minimization criterion for model predictive control;design optimization methods of an intelligent controller from a speed control system;modeling and PID controller design for a quadrotor unmanned air vehicle;process control simulator using programmable controller technology;controllers tuning for the speed vector control of induction motor drive systems;hardware and software development of an intelligent pneutronic robot;visual robot guidance in conveyor tracking with belt variables;a model for the kinematical analysis of a six degrees of freedom parallel robot;and autonomous mobile robot with displacements in a vertical plane and applications in cleaning services.
the paper describes a generic Cloud robotics teleoperation system which allows to control in real-time a robot (connected with a 4G network) having its video stream as feedback. the proposed system relies on the Azure...
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ISBN:
(纸本)9781509050932
the paper describes a generic Cloud robotics teleoperation system which allows to control in real-time a robot (connected with a 4G network) having its video stream as feedback. the proposed system relies on the Azure Cloud Platform and on recent web technologies. Particularly, we present an use case experiment in which an operator in Slovakia controls a robot situated in Italy in order to evaluate its real-time feasibility. We test the system to assess its performances providing the throughput value of the communication and the average delay between consecutive received packets on both robot and teleoperation side. Additionally, regarding the video streaming, we test several packet sizes to establish a suitable image quality. the results show how the chosen technology allows to have real-time performances in terms of video and velocity commands streaming.
the work is devoted to the research and development of a software and hardware platform based on control methods of a spherical parallel mechanism (SPM) with tracking of changes in the position of a human head withth...
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the distribution of the genetic programming algorithm improves the efficiency of the search for the solution, but additional parameters of this distribution are undesirable. this paper presents the analysis of early e...
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