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检索条件"任意字段=5th International Conference on Informatics in Control Automation and Robotics, ICINCO 2008"

共 191 条记录，以下是101-110 订阅

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Motion control of an omnidirectional mobile robot

Motion control of an omnidirectional mobile robot

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4th international conference on informatics in control, automation and robotics

作者： Li, Xiang Zell, Andreas Univ Tubingen Dept Comp Architecture Wilhelm Schickard Inst D-72076 Tubingen Germany

ISBN: (纸本)9789728865832

this paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.

关键词： mobile robots and autonomous systems system identification actuator saturation path following control

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Collision avoidance system proreta -: Strategies trajectory control and test drives

Collision avoidance system proreta -: Strategies trajectory ...

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5th international conference on informatics in control, automation and robotics

作者： Isermann, R. Staehlin, U. Schorn, M. Tech Univ Darmstadt Inst Automat Control D-64283 Darmstadt Germany

ISBN: (纸本)9789898111302

Methods and experimental results of a collision avoidance driver assistance system are described with automatic object detection, trajectory prediction, and path following with controlled braking and steering. the objects are detected by a fusion of LIDAR scanning and video camera pictures resulting in the location, size and speed of objects in front of the car. A desired trajectory is calculated depending on the distance, the width of a swerving action and difference speed. For the trajectory control different control methods were designed and tested experimentally like velocity depend linear feedback and feedforward control, nonlinear asymptotic output tracking and nonlinear flatness based control using extended one-track models with vehicle state estimation for the sideslip angle and cornering stiffness. Automatic braking is realized with an electrohydraulic brake (EHB) and automatic steering with an active front steering (AFS). the various control systems are compared by simulations and real test drives showing the behaviour of a VW Golf with automatic braking or/and automatic swerving to a free track, such avoiding hitting a suddenly appearing obstacle. the research project PRORETA was a four-years-cooperation between Continental Automotive Systems and Darmstadt University of Technology.

关键词： collision avoidance vehicle object detection path following automatic braking automatic steering

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Computation of Trajectory Sensitivities with Respect to control and Implementation in PSAT 16

Computation of Trajectory Sensitivities with Respect to Cont...

引用

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

作者： Hossain, Ramij Raja Kumar, Ratnesh Iowa State Univ Dept Elect & Comp Engn Ames IA 50011 USA

ISBN: (纸本)9789897583803

Trajectory sensitivity based analysis is widely regarded as an important tool for real time protection scheme of power systems. Model Predictive control (MPC) for voltage instability is one such protection scheme which computes a sequence of control actions depending upon the trajectory behaviour of the dynamics of the power systems. thus, computation of trajectory sensitivities with respect to control input can be an integral part for designing a real-time protection scheme. In this context, it is important to note that for the state-of-the-art Power System Analysis Tool (PSAT)(Milano, 2005), (Milano et al., 2008), while it is relatively easy to compute the trajectory sensitivities with respect to any system variables, the computation of trajectory sensitivities with respect to control inputs is not explicitly supported. this paper presents a method to extend the functionality of PSAT to also compute the trajectory sensitivities with respect to control inputs, which ultimately forms the basis for real-time protection schemes such as MPC. the proposed method is validated using direct time-domain simulation results.

关键词： Power System PSAT Static VAR Compensator Trajectory Sensitivity wrt control Under Load Tap Changer

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Video transmission with adaptive quality based on network feedback for mobile robot teleoperation in wireless multi-hop networks

Video transmission with adaptive quality based on network fe...

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5th international conference on informatics in control, automation and robotics

作者： Zeiger, Florian Sauer, Markus Schilling, Klaus Univ Wurzburg Dept Robot & Telemat Am Hubland Wuerzburg Germany

ISBN: (纸本)9789898111319

A video stream is still one of the most important data sources for the user while remote-operating a mobile robot. Human operators have comprehensive capabilities to interpret the displayed image information, but therefore, some constraints must be fulfilled. Constant frame rates and delays below a certain threshold are a minimum requirement to use video for teleoperation. Modern multi-hop networks often use WLAN to set up ad-hoc networks of mobile nodes with each node acting as traffic source, sink, or router. Considering these networks, routes between sources and destinations might be established via several relay nodes. thus, the utilization of intermediate nodes which are part of a route influences the overall route performance, whereas sender and receiver have no direct feedback of the overall route status. In case video is transmitted via wireless ad-hoc networks in a teleoperation scenario, the displayed video-stream for the operator might have variable frame rates, very high packet loss, and packet inter-arrival times which are not appropriate for mobile robot teleoperation. this work presents an approach using a feedback generated by the network to adapt the image quality to present communication constraints. thus, according to the current network status, the best possible video image is provided to the operator while keeping constant frame rates and low packet loss.

关键词： networked robots mobile robot teleoperation mobile robot ad-hoc networks wireless network ad-hoc network wireless teleoperation wireless remote control

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COMPUTATIONAL ASPECTS FOR RECURSIVE FRISCH SCHEME SYSTEM IDENTIFICATION

COMPUTATIONAL ASPECTS FOR RECURSIVE FRISCH SCHEME SYSTEM IDE...

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6th international conference on informatics in control, automation and robotics

作者： Linden, Jens G. Larkowski, Tomasz Burnham, Keith J. Coventry Univ Control Theory & Applicat Ctr Coventry CV1 5FB W Midlands England

ISBN: (纸本)9789896740016

the implementation of a recursive algorithm for the estimation of parameters of a linear single-input single-output errors-in-variables system is re-considered. the objective is to reduce the computational complexity in order to reduce the computation time per recursion, which, in turn, will allow a wider applicability of the recursive algorithm. the technique of stationary iterative methods for least squares is utilised, in order to reduce the complexity from cubic to quadratic order with respect to the model parameters to be estimated. A numerical simulation underpins the theoretically obtained results.

关键词： System identification Errors-in-variables Recursive identification

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Observability for the Wave Equation with Variable Support in the Dirichlet and Neumann Cases 15th

Observability for the Wave Equation with Variable Support in...

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15th international conference on informatics in control, automation and robotics (icinco)

作者： Agresti, Antonio Andreucci, Daniele Loreti, Paola Sapienza Univ Dept Math Piazzale Aldo Moro 5 I-00185 Rome Italy Sapienza Univ SBAI Dept Via Antonio Scarpa 16 I-00161 Rome Italy

ISBN: (纸本)9783030319939;9783030319922

We study the observability of the wave equation when the observation set changes over time. For the one dimensional Neumann problem, using Fourier series, we are able to prove for the exact observability an equivalent condition already known for the Dirichlet problem;see [1]. For the observability problem with Dirichlet boundary conditions, we focus on multidimensional problems and the observability inequality is proven through a multiplier approach. Besides this, we present some applications and a numerical simulation.

关键词： Exact controllability Wave equation Variable control subset Multiplier Fourier series

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Working Progress towards Lawn Mower automation 17

Working Progress towards Lawn Mower Automation

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17th international conference on informatics in control, automation and robotics (icinco)

作者： Plascencia, Alfredo Chavez Beran, Vitezslav Rozman, Jaroslav Acosta Armando, Aguilar BUT FIT IT4Innovat Prague Czech Republic Univ Guadalajara Sch Mechatron Carretera Guadalajara Ameca Km 45-5 Ameca 46600 Jalisco Mexico

ISBN: (纸本)9789897584428

this paper is a working progress towards an automation of the Spider lawn mower (SLM) which is a four synchronized steering wheel mobile robot. During the functioning, the SML must follow cutting grass edge with no overlapping of a strip of cut grass and also satisfy slippage constrains. To this end, a small prototype called Andromina which is a four-independent steering wheel mobile robot has been chosen to verify the control approach. this paper proposes to implement a mathematical model that takes into account the kinematics and dynamics of the mobile robot and also a nonlinear control strategy like the state feedback linearization. the most important advantage of the proposed model-control strategy is that it takes into account the nonlinearities of the system and a control law becomes a linear one. the path following tracking error has been verified by the statistical approach called analysis t-test and also results of real data simulations have shown the effectiveness of the proposed control strategy applied to a four-independent steering nonholonomic wheeled mobile robot.

关键词： Mobile Robot Nonlinear control Path Planning

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

引用

5th international conference on informatics in control automation and robotics, icinco 2008

作者： Solea, Razvan Nunes, Urbano Department of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Coimbra 3030-290 Portugal Department of Automation and Industrial Informatics Dunarea de Jos University of Galati Galati 800-008 Romania

ISBN: (纸本)9783642002700

this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. the user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Degrees of freedom (mechanics)

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Outbreaks detection at the beginning of monitoring process: the CUSUM test modification

Outbreaks detection at the beginning of monitoring process: ...

引用

5th international conference on informatics in control automation and robotics, icinco 2008

作者： Bondarenko, Julia Helmut-Schmidt-University Hamburg Holstenhofweg 85 Hamburg 22045 Germany

ISBN: (纸本)9783642002700

Detection and reporting structural breaks arising in system during monitoring, is one of the main task of statistical process control. An ignorance of such breaks can cause an associated regression model misspecification. In practice, early detection and response to outbreaks, causing the changes in a process, is highly important. the famous CUSUM test of Brown, Durbin & Evans, has a poor power in detecting the structural breaks in parameters occurring early (and also late) in the sample. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Statistical process control

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Mechatronics Design, Modeling and Preliminary control of a 5 DOF Upper Limb Active Exoskeleton 13

Mechatronics Design, Modeling and Preliminary Control of a 5...

引用

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

作者： Abane, Abdelkrim Guiatni, Mohamed Fekrache, Djahid Merouche, Saad Otmani, Abdelouahab Tair, Mouloud Ababou, Noureddine Ecole Militaire Polytech Control Lab Algiers Algeria Univ Specialise Bouchaoui Hop Militaire Algiers Algeria Univ Sci & Technol Houari Boumedienne Instrumentat Lab Algiers Algeria

ISBN: (纸本)9789897581984

In this paper, we present the mechatronics design, modeling and preliminary control of a new 5 degrees of freedom (DoF) exoskeleton, dedicated for the upper limb rehabilitation. the designed exoskeleton allows the shoulder rotations as well as the elbow movements. It combines the advantages of both parallel and serial mechanisms. It has been designed by considering the main factors in designing a general use robotic force-feedback device and the human upper limb specications. this active device, as a kind of haptic device, provides two ways communication in both position and force, and allows patients to interact with the virtual reality system and practice activities of daily living (ADL) assistance. the kinematic model of the exoskeleton is presented. In order to evaluate the performance of the exoskeleton, a preliminary position and torque controllers have been implemented.

关键词： Mechatronics Design Upper Limb Exoskeleton Robot Modeling PD controller

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