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Generic architecture for modular real-time systems in robotics 15

Generic architecture for modular real-time systems in roboti...

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

作者： Schöpping, thomas Korthals, Timo Hesse, Marc Rückert, Ulrich Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ Bielefeld University Inspiration 1 Bielefeld33619 Germany

ISBN: (纸本)9789897583216

With the continuous progress in robotics and application of such systems in evermore scenarios, safety and flexibility become increasingly important aspects and new designs should thus emphasize real-time capability and modularity. this work points out all related topics for such an endeavor and proclaims to move from conventional bottom-up design to more holistic approaches. Based on experience gained with the modular mini robot platforms BeBot and AMiRo, a novel generic modular architecture is proposed that offers high flexibility and system wide real-time capability. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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A training simulator for teleoperated robots deployed at CERN 15

A training simulator for teleoperated robots deployed at CER...

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

作者： Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel Department of Systems and Control Engineering University of Malta Msida Malta Engineering Department EN-STI CERN Geneva Switzerland Centre for Automation and Robotics UPM-CSIC Universidad Politecnica de Madrid Madrid Spain

ISBN: (纸本)9789897583216

this paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. the robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. the resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Virtual reality

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Task-based Programming and Sequence Planning for Human-Robot Collaborative Assembly 9

Task-based Programming and Sequence Planning for Human-Robot...

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9th IFAC/IFIP/IFORS/IISE/INFORMS conference on Manufacturing Modelling, Management and control (IFAC MIM)

作者： Aliev, Khurshid Antonelli, Dario Bruno, Giulia Politecn Torino Corso Duca Abruzzi 24 I-10129 Turin Italy

the paper proposes a task-based programming method to support assembly processes in a human-robot collaborative workcell. the method for assembly sequence generation is implemented as a robot program homebuilt by composing pre-programmed elementary working steps. Developed system can support human operator as an interactive tool for collaboration with robot. Robot program and developed software are used to interface the robot with the human during the execution of the assembly tasks starting from single mechanical parts. the proposed Human Robot Interaction System (HRIS) performs an assembly job with the contemporary collaborative work of robots and humans that share tasks in the same workspace. the system is tested on a case study made on purpose and constituted by several different flanges mounted on a support in a variety of configurations. thus, the method is general and can be easily adapted to a multiplicity of assembly tasks. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： robotics in manufacturing Human-automation Integration Production control control Systems

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the hand-gesture-based control interface with wearable glove system 15

The hand-gesture-based control interface with wearable glove...

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

作者： Berezhnoy, Vladislav Popov, Dmitry Afanasyev, Ilya Mavridis, Nikolaos Institute of Robotics Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (纸本)9789897583216

the paper presents an approach to building a gesture-based control interface with a wearable glove system and a real-time gesture recognition algorithm. the glove-based system is a wireless wearable device with hardware components, including Arduino Nano controller, IMU and flex sensors, and software for gesture recognition. Our gesture recognition methodology requires two stages: 1) Building a library of dynamic gesture models with the reference human gesture graphs;2) Gesture capturing and evaluating with fuzzy c-means (FCM) clustering and constructing grammars of gestures by fuzzy membership functions. the system tests were provided with 6 different dynamic gestures to control position and orientation of a quadcopter in V-Rep simulator that has demonstrated encouraging results with a reasonable quality of real-time gesture-based quadcopter control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Gesture recognition

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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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Simultaneous design of structural and control systems using set-based design method 15

Simultaneous design of structural and control systems using ...

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

作者： Ishikawa, Haruo Sasaki, Naoko Graduate School of Informatics and Emgineering University of Electro-Communications Chofu Tokyo Japan Center for International Programs and Exchange University of Electro-Communications Chofu Tokyo Japan

ISBN: (纸本)9789897583216

the design method capable of considering the influence factors related to control and structural design systems under conditions that simultaneously satisfy multi-objective performances over both the systems is investigated. the influence factors and performances have some kinds of uncertainty related to structural design and control system design. the uncertainty may be expressed in terms of set interval. Set-based design method is available as a design method that can take account of such uncertainty. In the method, instead of optimization, the concept of satisficing is used. In the present study, the applicability of set-based design method that has been studied in the field of structural design is investigated for the simultaneously satisficing design of control and structural systems. For discussing the applicability, an example problem of inverted pendulum with heteromorphic shape on cart is solved by optimal regulator method in modern control theory. As a result, the set intervals of influence factors which simultaneously satisfy the set intervals of multi-objective performances are obtained. From this result, the usefulness of set-based design method for simultaneous design of control and structural systems can be confirmed. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Structural design

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Atlas - Examining the wider context of assistive robotics 15

Atlas - Examining the wider context of assistive robotics

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

作者： Doran, H.D. Neumann, S. Becker, H.K. Kollmar, A. Misoch, S. Pauli, C. Müller, S. Hannich, F. Institute of Embedded Systems Zürich University of Applied Sciences Winterthur Switzerland Institute of Occupational Therapy Zurich University of Applied Sciences Winterthur Switzerland Interdisciplinary Competence Centre for Ageing IKOA-FHS University of Applied Sciences St. Gallen St. Gallen Switzerland Institute of Marketing Management Zurich University of Applied Sciences Winterthur Switzerland

ISBN: (纸本)9789897583216

We examine the proposition of a stationary assistive robot arm in the kitchen. Based on a preliminary business plan and with the aim of generating engineering requirements, a multi-disciplinary project was established to examine the wider ramifications of such assistive technology in the household, in a Swiss context, in the fields of health and social wellbeing. Additionally the engineering aspects as well as the business aspects were examined. We detail both the individual methodologies used in this study, the results achieved and discuss the results in a wider context. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System 15

Development of the Sensory Network for the Vibration-based F...

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

作者： Bondyra, Adam Gasior, Przemyslaw Gardecki, Stanislaw Kasinski, Andrzej Institute of Control Robotics and Information Engineering Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (纸本)9789897583216

In this paper, a fault detection and isolation (FDI) system for propeller impairments of the multirotor UAV is presented. the algorithm is based on the processing of signal vectors from the set of vibration sensors located close to the propulsion units. Axial and radial vibrations are measured using MEMS accelerometers that provide data for the feature extraction based on the Fast Fourier Transform (FFT). Characteristic fault signatures extracted from vibration signals are used to detect and localize damaged blades using the set of random decision trees. A method was evaluated with data gathered during numerous test flights and validated in relation to signal acquisition time and number of classifiers in the ensemble. Results show over 95% sensitivity in detecting and isolating faulty rotor states. the presented approach is an effective and low-cost solution, very versatile to implement in the arbitrary UAV. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Vibration analysis

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On Achieving Bounded Harvest Times in Robotic Fruit Harvesting: A Finite-Time Visual Servo control Approach 6th

On Achieving Bounded Harvest Times in Robotic Fruit Harvesti...

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6th international-Federation-of-Automatic-control (IFAC) conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Mehta, S. S. Ton, C. Rysz, M. Ganesh, P. Kan, Z. Burks, T. F. Univ Florida Dept Mech & Aersospace Engn Shalimar FL 32579 USA Southwest Res Inst 6220 Culebra Rd San Antonio TX 78238 USA Miami Univ Dept Informat Syst & Analyt Oxford OH 45056 USA Univ Sci & Technol China Dept Automat Hefei 230052 Anhui Peoples R China Univ Florida Dept Agr & Biol Engn Gainesville FL 32611 USA

To improve commercial feasibility of robotic harvesters, it is utmost important to reduce and be able to guarantee harvesting times. A significant portion of this responsibility is on the control system. Current visual servo control methods can at best achieve exponential regulation of a robot (i.e., theoretically infinite convergence time), making it impossible to predict harvest time. the aim of this paper is to introduce a new finite-time visual servo control approach that guarantees finite (i.e., bounded) and computable harvest times. To this end, a continuous terminal sliding mode visual servo controller is developed, and Lyapunov-based stability analysis is presented to guarantee finite-time regulation of the robot to a target fruit. Further, we derive expressions for the bound on the harvesting time, which can aid post-harvest operations management. the developed controller is validated through numerical simulations. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Harvesting time Agricultural robotics Terminal sliding mode control

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Fast and simple model for free hanging, pre-impregnated carbon fibre material 15

Fast and simple model for free hanging, pre-impregnated carb...

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

作者： Nielsen, Ole W. Schlette, Christian Petersen, Henrik G. Maersk Mc-Kinney Moller Institute University of Southern Denmark Campusvej 55 Odense M5230 Denmark

ISBN: (纸本)9789897583216

Automated one-of-a-kind grasping and draping of pre-impregnated (prepreg) fiber plies onto complex molds is a hitherto unsolved problem. In the project FlexDraper, we have gathered an international consortium with industrial keyplayers for addressing this gap. Our approach is based on model- and simulation-based control of the shaping of the plies during the draping procedure, which requires fast computable models in the draping control loop. In this paper, we present such a fast computable mathematical model for the shape of free hanging prepreg fiber plies with perpendicular fiber directions, where the ply is held (clamped) at a set of locations that are not too far apart. Rather than using expensive physically based models, e.g. FEM simulations, our model is only based on interpolations between the held locations satisfying curve length constraints in fiber directions. the paper also contains experimental tests for the accuracy of the model. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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