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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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An Improved Method for the Error Modeling of a 5-DoF Parallel Machining Robot Based on Measurement by a Laser Tracker

An Improved Method for the Error Modeling of a 5-DoF Paralle...

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Xuan Luo Fugui Xie Xin-Jun Liu Zenghui Xie Zaihua Yang State Key Laboratory of Tribology & Tsinghua University (DME) Siemens Joint Research Center for Advanced Robotics and Beijing Key Lab of Precision Tsinghua University Beijing China Beijing Institute of Spacecraft Environment Engineering Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Kinematic calibration of 5-DoF parallel robots is very challenging, due to the difficulty in accomplishing the efficient and precise measurement of the end-effector's pose errors, and the situation that the terms of the error mapping Jacobian matrix (EMJM) in various units will restrict the identification accuracy. this paper proposes an improved error modeling method based on measurement by a laser tracker to deal with these problems for a 5-DoF parallel machining robot, DiaRoM-II. Two steps of modeling modification are developed as: (1) reselecting the robot's geometric errors in a uniform unit; (2) substituting the pose errors of the end-effector with the position errors of two points along the axis of the spindle. Accordingly, the dimensionless EMJM is established. On this basis, the identification simulation experiments are conducted, and the results verify that the improved error modeling method is effective in accurately identifying the geometric errors of DiaRoM-II.

关键词： Frequency modulation conferences automation control systems Intelligent systems 5G mobile communication

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On redundancy resolution in minimum-time trajectory planning of robotic manipulators along predefined end-effector paths 13th

On redundancy resolution in minimum-time trajectory planning...

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13th international conference on informatics in control, automation and robotics, ICINCO 2016

作者： Reiter, Alexander Gattringer, Hubert Müller, Andreas Institute of Robotics Johannes Kepler University Linz Altenberger Straße 69 Linz4040 Austria

ISBN: (纸本)9783319550107

Trajectory planning is a crucial aspect of economically viable operation of robotic manipulators. For given geometric paths, appropriate joint trajectories are required such that their duration is minimized while physical and technological constraints are fulfilled. Kinematically redundant manipulators are increasingly employed for industrial tasks due to their increased work space and dexterity. In this paper, a novel inverse kinematics based optimization approach for computing minimum-time trajectories is introduced that optimally exploits a manipulator’s kinematical redundancy. Using the example of a planar manipulator, the presented method is shown to outperform conventional optimal control approaches regarding robustness and the resulting trajectory characteristics. © Springer international Publishing AG 2018.

关键词： Inverse kinematics

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control Systems: theory and Applications 1

引用

丛书名： River Publishers series in automation, control and robotics

2018年

作者： international conference on Automatic control

ISBN: (数字)9788770220255

ISBN: (纸本)9788770220248

In recent years, a considerable amount of effort has been devoted, both in industry and academia, towards the development of advanced methods of control theory with focus on its practical implementation in various fields of human activity such as space control, robotics, control applications in marine systems, control processes in agriculture and food production. control Systems: theory and Applications consists of selected best papers which were presented at XXIV international conference on automatic control “Automatics 2017” (September 13–15, 2017, Kyiv, Ukraine) organized by Ukrainian Association on Automatic control (National member organization of IFAC – international Federation on Automatic control) and National University of Life and Environmental Sciences of Ukraine. More than 120 presentations where discussed at the conference, with participation of the scientists from the numerous countries. the book is divided into two main parts, a first on theory of Automatic control (5 chapters) and the second on control Systems Applications (8 chapters). the selected chapters provide an overview of challenges in the area of control systems design, modeling, engineering and implementation and the approaches and techniques that relevant research groups within this area are employing to try to resolve these. this book on advanced methods of control theory and successful cases in the practical implementation is ideal for personnel in modern technological processes automation and SCADA systems, robotics, space and marine industries as well as academic staff and master/research students in computerized control systems, automatized and computer-integrated systems, electrical and mechanical engineering.

关键词： Industrial management-United States

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Parameter identification and model-based control of redundantly actuated, non-holonomic, omnidirectional vehicles 13th

Parameter identification and model-based control of redundan...

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13th international conference on informatics in control, automation and robotics, ICINCO 2016

作者： Stöger, Christoph Müller, Andreas Gattringer, Hubert Institute of Robotics Johannes Kepler University Altenberger Straße 69 Linz4040 Austria

ISBN: (纸本)9783319550107

Vehicles with centered orientable standard wheels are known to be omnidirectional and precise in their motion. the common decentralized strategy to control the driving velocities and wheel orientations leads to unnecessary high torques, an increased energy consumption as well as additional slippage due to the redundant actuation. this paper introduces a novel model-based control concept that overcomes these. It uses a minimal set of control variables within a PD control law to avoid counteractions. An additional inverse dynamics solution complements the control and further reduces slippage. the resulting generalized torque demand is optimal distributed among the drives. the paper additionally shows how the control performance can be further improved by an additional experiment which identify the inertia parameters of the vehicle. the overall approach is at the end validated by some experiments. © Springer international Publishing AG 2018.

关键词： Energy utilization

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Design of a novel 6-DoF robotic system for pituitary tumor removal under MRI guidance

Design of a novel 6-DoF robotic system for pituitary tumor r...

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international conference on control, automation and Systems ( ICCAS)

作者： Muhammad Umar Farooq Kyoungrae Cha Dae Kyung Sohn Heon Yoo Seong Young Ko Medical Robotics and Intelligent Control Laboratory (MeRIC-Lab) Chonnam National University Gwangju Korea Medical Device Development Center Daegu Gyeongbuk Medical Innovation Foundation Center for Colorectal Cancer National Cancer Center Neuro Oncology Clinic National Cancer Center

Magnetic resonance imaging (MRI) provide superior visuals that might be suitable for complicated surgical procedures in complex parts of the human body like brain and heart. Brain tumor removal is one of the trickiest surgical procedures and the pituitary tumor is one of the most common type of intracranial tumors. In this paper, we present an MRI compatible robotic system for pituitary tumor removal via trans-nasal access to the surgical site. the robotic system is designed to operate in a Siemens® 3T MRI scanner. A 5mm diameter and 6-DOF design specific manipulator is developed to access the pituitary glands and remove the tumor using the commercially available tools. the actuation system is designed to fit inside the MRI bore and operate just above the nasal entry point. the manipulator is designed to work in a 20×20mm workspace of the pituitary gland and this workspace is validated by experiments. the presented robotic system is expected to decrease the complexity by accessing the surgical site through the nasal cavity and improve the quality of tumor removal by providing better image quality under MRI guidance.

关键词： Magnetic resonance imaging Manipulators Tumors Electron tubes Shafts Actuators

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ICINCO 2016 - 13th international conference on informatics in control, automation and robotics, Doctoral Consortium

ICINCO 2016 - 13th International Conference on Informatics i...

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13th international conference on informatics in control, automation and robotics, ICINCO 2016

the proceedings contain 2 papers. the topics discussed include: robot control for nonprehensile dynamic manipulation tasks;and active disturbance rejection robust control for uncertain systems. case: floating offshore...

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Design and Implementation of HAPS on Air Pollution Monitoring System

Design and Implementation of HAPS on Air Pollution Monitorin...

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international conference on Wireless and Telematics (ICWT)

作者： E.A.C. Kusuma Iskandar School of Electrical Engineering and Informatics Bandung Institute of Technology INDONESIA

Air pollution is an environmental issue that can not be ignored. the development of air pollution monitoring systems will be useful for controlling and measuring parameters associated with air pollution. Along with technological developments, the use of Wireless Sensor Network (WSN) is currently being considered for air pollution monitoring, as it can work automatically and has a much cheaper cost than conventional measuring stations. But WSN itself has several weakness that require supporting technology to cover the weakness of WSN. the solution is to integrate WSN with High Altitude Platform Station (HAPS).In this final project will be discussed the implementation of HAPS on air pollution monitoring system based on WSN. In this study HAPS will serve as the center of aggregation and data processing from the head cluster. In order for HAPS to serve as the aggregation and data processing center of the head cluster, Raspberry Pi 3 is used as the HAPS control center. In addition HAPS will also serve as an access point for the sensor nodes to communicate wirelessly with each other. In the access point HAPS used microstrip patch antenna design results that have a working frequency of 2.4 GHz, return loss of 11.35 dB and VSWR of 1.743. the designed HAPS access point has the farthest reach of 255 meters.

关键词： air pollution measurement microstrip antennas UHF antennas wireless sensor networks

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Comparison of Optimization Techniques for Process Recognition Using Deep Neural Network

Comparison of Optimization Techniques for Process Recognitio...

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Intl Conf on Advanced control Circuits Systems (ACCS) Systems & Intl Conf on New Paradigms in Electronics & Information Technology (PEIT)

作者： Zuzana Kepesiova Danica Rosinova Stefan Kozak Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia Faculty of Informatics Pan-European University Bratislava Slovakia

ISBN: (数字)9781728163543

ISBN: (纸本)9781728163550

this paper brings the topic of comparison of optimization techniques using gradient descent, gradient descent with momentum, Adam and learning rate decay in combination with previous optimization algorithms for face recognition using deep neural network. this paper compares several settings of these techniques as well as techniques among themselves with combination of regularization techniques varying in using no regularization, L2 regularization and dropout to successfully recognize the sex of a person captured. the result of the evaluation is taken in a matter of successfully recognized face rate for train data and test data, cost and deep neural network learning time.

关键词： Cost function Training Face recognition Face Biological neural networks Data models

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the control System of Kulkul Bali Based on Microcontroller

The Control System of Kulkul Bali Based on Microcontroller

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conference on New Media Studies (CoNMedia)

作者： I Gusti Made Ngurah Desnanjaya I Gede Iwan Sudipa Informatics STMIK STMIK Indonesia Denpasar Indonesia

ISBN: (纸本)9781728115740

Kulkul is a traditional information medium that bridges Balinese information, death information, deliberation information, and disaster information. Kulkul is very sacred and not just anyone who can ring it. Obstacles when ringing the kulkul when the officer is not in the village and must ring the kulkul and must climb the kulkul hall building to ring the kulkul. Balai kulkul until now remains a communication medium about the activities in the banjar environment. In general, the kulkul hall has not been maximally utilized in the event of a disaster. Even though the kulkul hall as a traditional communication medium that is very trusted by the public, can become a valid information center especially in the event of a disaster. By maximizing the function of the kulkul hall as a medium of community communication even in the event of a disaster, it is expected that the kulkul hall can continue to survive amid the times. Seeing the potential for disasters and the superiority of the functions of the kulkul hall, an implementation of disaster mitigation technology with Balinese culture was made. So we need a tool that can control the kulkul remotely using an sms system and the kulkul controller using a keypad so that officers do not need to climb the kulkul hall building. In this study, the numbers registered on sim 900 alone can control the kulkul via sms and the kulkul control via the keypad only the correct password code can control the kulkul, if the code is wrong then the LCD displays the wrong code notification and cannot control the kulkul. this system can be controlled using a keypad and SMS remotely with the types of knock kulkul_kematian, kulkul_musyawarah, and kulkul_pancabaya, to determine the social impact on the community by distributing questionnaires.

关键词： Liquid crystal displays Pins Servomotors Password DC motors Microcontrollers

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Approach to the analysis and processing of data from IT-services monitoring system 1

Approach to the analysis and processing of data from IT-serv...

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1st Workshop Computer Science and Engineering in the framework of the 5th international Scientific-Methodical conference "Problems of Mathematical and Natural-Scientific Training in Engineering Education, CSITinMNSTinEE 2018

作者： Bolshakov, Maksim A. Pugachev, Sergei V. Molodkin, Igor A. Teslya, Nikolay N. Saint Petersburg Information and Computing Centre JSC Russian Railways Saint Petersburg Russia Emperor Alexander I St. Petersburg State Transport University Saint Petersburg Russia Laboratory of computer aided integrated systems St.Petersburg Institute for Informatics and Automation of the RAS Saint Petersburg Russia

Various instrumental IT infrastructure monitoring systems are considered and compared: Zabbix, Nagios, ManageEngine OpManager, Hewlett Packard Operations Manager, Naumen Network Manager and IBM Tivoli. the functions to be performed by the IT infrastructure monitoring and management system in its target state are specified. the current state of the IT infrastructure monitoring system in JSC Russian Railways is described. A mathematical formulation of the problem of determining control values of metrics and an example of developing a neural network to determine control values of metrics and recommendations for its improvement are given. Copyright © by the papers’ authors.

关键词： Managers

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