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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111-120 订阅

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

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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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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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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

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

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. this controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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the Sourcing Problem Energy Optimization of a Multisource Elevator 13

The Sourcing Problem <i>Energy Optimization of a Multisource...

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

作者： Desdouits, Chloe Alamir, Mazen Giroudeau, Rodolphe Le Pape, Claude Schneider Elect Ind SAS Strategy Technol 38 TEC37 Quai Paul Louis Merlin F-38050 Grenoble 09 France Univ Stendhal Univ Joseph Fourier Grenoble INP UMR 5216 CNRS 11 Rue MathGrenoble CampusBP46 F-38402 St Martin Dheres France Univ Montpellier 2 LIRMM Comp Sci Dept UMR 5506 161 Rue AdaCC477 F-34095 Montpellier 5 France

ISBN: (纸本)9789897581984

As the interest in regulating energy usage and in the demand-response market is growing, new energy management algorithms emerge. In this paper, we propose a formalization of "the sourcing problem" and its application to a multisource elevator. We propose a linear formulation that, coupled with a low level rule-based controller, can solve this problem. We show in the experiments that a compromise between reducing consumption peaks and minimizing the energy bill has to be reached.

关键词： Energy Optimization control of Dynamic Systems Linear Programming Rule-based Algorithms

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On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem 17

On the Application of Safe-Interval Path Planning to a Varia...

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

作者： Yakovlev, Konstantin Andreychuk, Anton Rybecky, Tomas Kulich, Miroslav Russian Acad Sci Fed Reseach Ctr Comp Sci & Control Moscow Russia Moscow Inst Phys & Technol Moscow Russia Peoples Friendship Univ Russia RUDN Moscow Russia Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague Czech Republic

ISBN: (纸本)9789897584428

We address a variant of multi-agent pickup and delivery problem and decouple into two parts: task allocation and path planning. We employ the any-angle Safe-Interval Path Planning algorithm introduced in our recent work and study the performance of several task allocation strategies. Furthermore, the proposed approach has been integrated into a control system to verify its feasibility in deployment on real robots. A key part of the system is a visual localization system which is based on the detection of unique artificial markers placed in the working environment. the conducted experiments show that generated plans can be safely executed on a real system.

关键词： Multi-robot Systems Safe-Interval Path Planning Multi-agent Path Finding Automated Warehouses

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Distributed technology for global control

Distributed technology for global control

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

作者： Sapaty, Peter Simon Institute of Mathematical Machines and Systems National Academy of Sciences Glushkova Ave 42 Kiev 03187 Ukraine

ISBN: (纸本)9783642002700

A flexible, ubiquitous, and universal solution for management of distributed dynamic systems will be presented. It allows us to grasp complex systems on a higher than usual, semantic level, penetrating their infrastructures, also creating and modifying them, while establishing local and global dominance over the system organizations and coordinating their behavior in the way needed. the approach may allow the systems to maintain high runtime integrity and automatically recover from indiscriminate damages, preserving global goal orientation and situation awareness in unpredictable and hostile environments. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Sensor networks

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Vehicular electronic devices connected by onboard fieldbus technologies

Vehicular electronic devices connected by onboard fieldbus t...

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

作者： Dominguez, Miguel A. Marino, Perfecto Poza, Francisco Otero, Santiago Univ Vigo Elect Technol Dept ETSI Ind Vigo 36280 Spain

ISBN: (纸本)9789728865832

the electrical circuits and their Electronic control Units (ECUs) in buses and coaches are essential for their good working. Drive, braking, suspension, opening door, security and communication devices must be integrated in a reliable and real time information system. the industrial communication networks or fieldbuses are a good solution to implement networked control systems for the onboard electronics in the public transport buses and coaches. the authors are working in the design of multiplexed solutions based on fieldbuses to integrate the body and chassis functions of city public transport buses. An example for the EURO5 model of the Scania manufacturer is reported in this paper. the authors are also working in the implementation of new modules based on FPGAs (Field Programmable Gate Arrays) that can be used in these networked control systems.

关键词： vehicular control fieldbuses CAN city public transport buses multiplexed solutions

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A Comparison Study on Coupling Effects in Balance control Methods of Humanoid Robots through an Extended Task Space Formulation 16

A Comparison Study on Coupling Effects in Balance Control Me...

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

作者： Yoo, Seungjae Jo, Joonhee Oh, Yonghwan Korea Inst Sci & Technol 5Hwarang Ro 14 Gil Seoul South Korea Univ Sci & Technol 217 Gajeong Ro Yuseong Gu Daejeon 34113 South Korea

ISBN: (纸本)9789897583803

Even though several control methods on the task space dynamics of humanoids have been proposed, they cannot cover the entire dynamics of the system since there are hidden null space dynamics due to kinematic redundancy. Besides, there are few studies on the coupling effects between task space and null space dynamics. through an extended task space formulation, the coupling effects between each space are manifested because this form allows representing the entire system dynamics. Moreover, by using an adequate selection of weighting matrices, the coupling effects can be inertially decoupled. Regarding the effectiveness of the decoupling process, two whole-body control approaches and provide their mathematical comparisons is proposed. A kinematically decomposed control approach without the decoupling process is first introduced, and its extension to an inertially decoupled control approach is then developed. Furthermore, conventional operational space-based control is discussed to compare the above control approaches. this paper constructs a mathematical analysis of their relationships. Finally, simulation results are given in this paper to demonstrate the validity of the mathematical analysis.

关键词： Humanoid Whole-body control Balance Extended Task Space Null Space

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Fuzzy Gradient control of Electric Vehicles at Blended Braking with Volatile Driving Conditions 17

Fuzzy Gradient Control of Electric Vehicles at Blended Braki...

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

作者： Vodovozov, Valery Petlenkov, Eduard Aksjonov, Andrei Raud, Zoja Tallinn Univ Technol Dept Elect Power Engn & Mechatron Ehitajate Tee 5 Tallinn Estonia Tallinn Univ Technol Dept Comp Syst Ctr Intelligent Syst Ehitajate Tee 5 Tallinn Estonia Aalto Univ Sch Elect Engn Intelligent Robot Grp Espoo Finland

ISBN: (纸本)9789897584428

the paper is devoted to intelligent control of road electric vehicles aiming at reducing energy losses caused by traffic jams, changing velocity, and frequent start-stop modes of driving. A blended braking system is described that integrates both the friction and the electric braking strengths in volatile driving conditions, including gradual and emergency antilock braking. the vehicle model reflects multiple factors, such as air resistance, road slope, and variable friction factor. A new gradient control method recognizes unstable tire properties on changing road surfaces at different velocities. In the motor and battery model, the state of charge and electric current/voltage restrictions of the hybrid energy storage are taken into account. the braking torque, actuated by the Mamdani's fuzzy logic controller established in the Simulink (R) environment, is allocated between the front and rear friction and electric brakes. Comparison of simulation and experimental results confirms that the outcomes of this research can be considered in the design of braking systems for electric vehicles with superior energy recovery.

关键词： Electric Vehicle Intelligent Transportation Fuzzy control Modelling Simulation Energy Recovery Hybrid Energy Source Braking System

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control system with state feedback and NN based load torque feedforward for PMSM with LC filter Fed by 3-level NPC inverter

Control system with state feedback and NN based load torque ...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Grzesiak, L.M. Tarczewski, T. Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland

ISBN: (纸本)9789898565709

this paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral point clamped inverter with an output LC filter. Our main objective is to reduce the effect of load torque changes and to improve dynamic behaviour of the motor during load changing. the full state feedback algorithm has been chosen to control the angular velocity of the motor and to provide true sine wave of the input motor voltages. It was found that gains of the controller and feedforward path are non-stationary and depends on the angular velocity. In such a case linearization and decoupling process of the motor with LC filter is not needed. Simulation results (at the level of 3kW) illustrate the proposed approach.

关键词： State feedback

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