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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51-60 订阅

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Using stereo vision and tactile sensor features - For grasp planning control

Using stereo vision and tactile sensor features - For grasp ...

引用

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

作者： Boudaba, Madjd Gorges, Nicolas Woern, Heinz Casals, Alicia TES Elect Solut GmbH Zettachring 8 D-70567 Stuttgart Germany Univ Karlsruhe Inst Proc Control & Robot D-76131 Karlsruhe Germany Tech Univ Cataloni GRINS Res Grp Intelligent Robots & Syst Barcelona 08028 Spain

ISBN: (纸本)9789898111319

Planning the grasp positions either from vision or tactile sensors one can expect various uncertainties. this paper describes a scheme that match visual stereo and tactile data based on stereo vision and tactile sensors. For grasp planning, initially, the grasping positions are generated from stereo features, then the feedback of tactile features is used to match these positions. the result of the matching algorithm is used to control the grasping positions. the grasping process proposed is experimented with an anthropomorphic robotic system.

关键词： stereo vision tactile sensors grasp planning features matching

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Optimising a flying robot - controller optimisation using a genetic algorithm on a real-world robot

Optimising a flying robot - Controller optimisation using a ...

引用

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

作者： Passow, Benjamin N. Gongora, Mario De Montfort Univ Inst Creat Technol Gateway Leicester LE1 9BH Leics England De Montfort Univ Ctr Computat Intelligence Leicester LE1 9BH Leics England

ISBN: (纸本)9789898111319

this work presents the optimisation of the heading controller of a small flying robot. A genetic algorithm (GA) has been used to tune the proportional, integral, and derivative (PID) parameters of the helicopter's controller. Instead of evaluating each individual's fitness in an artificial simulation, the actual flying robot has been used. the perfonnance of a hand-tuned PID controller is compared to the GA-tuned controller. Tests on the helicopter confirm that the GA's solutions result in a better controller performance. Further more, results suggest that evaluating the GA's individuals on the real flying robot increases the controller's robustness.

关键词： genetic algorithm robot helicopter PID control

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An online bandwidth scheduling algorithm for distributed control systems with multirate control loops

An online bandwidth scheduling algorithm for distributed con...

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

作者： Kanchi, Saroja Pimentel, Juan Kettering Univ Dept Comp Sci Flint MI 48504 USA Kettering Univ Dept Elect & Comp Engn Flint MI 48504 USA

ISBN: (纸本)9789898111302

In this paper, we present an online scheduling algorithm for communication in a distributed control system. the packet size of the communication varies for each execution of the loop within certain bounds. We consider systems with closed loops that restart immediately after the completion of an execution. Our algorithm is based on priority of the loop and size of the communication packet. We demonstrate through simulation that our algorithm generates a feasible schedule that minimizes average control delay over all the loops. Our simulations demonstrate that this online schedule reduces average delay significantly compared to a-priori schedules for distributed control systems. We demonstrate that bandwidth utilization is more efficient in case of online scheduling.

关键词： control systems control loops scheduling distributed systems

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Shape memory alloy tendons actuated tentacle - Robotic structure models and control

Shape memory alloy tendons actuated tentacle - Robotic struc...

引用

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

作者： Bîzdoaca, Nicu George Petrisor, Anca Bîzdoaca, Elvira Diaconu, Ilie Degeratu, Sonia Faculty of Automation Computers and Electronics University of Craiova Romania Faculty of Electromechanical Engineering University of Craiova Romania

ISBN: (纸本)9789898111319

A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. the results are commented.

关键词： Shape memory effect

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MPC for systems with variable time-delay - Robust positive invariant set approximations

MPC for systems with variable time-delay - Robust positive i...

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

作者： Olaru, Sorin Benlaoukli, Hichern Niculescu, Silviu-Iulian Ecole Super Elect Dept Automat Control F-91192 Gif Sur Yvette France LSS SUPELEC F-91192 Gif Sur Yvette France

ISBN: (纸本)9789898111326

this paper deals with the control design for systems subject to constraints and affected by variable time-delay. the starting point is the construction of a predictive control law which guarantees the existence of a nonempty robust positive invariant (RPI) set with respect to the closed loop dynamics. In a second stage, an iterative algorithm is proposed in order to obtain an approximation of the maximal robust positive invariant set. the problem can be treated in the framework of piecewise affine systems due to the explicit formulations of the control law obtained via multiparametric programming.

关键词： predictive control time-delay invariant sets

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Design of neuronal network to control Spirulina aquaculture

Design of neuronal network to control Spirulina aquaculture

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

作者： Ponce, Ernesto Ponce, Claudio Barraza, Bernardo Tarapaca Univ Dept Mech Engn Dept Elect Engn Arica Chile

ISBN: (纸本)9789898111302

A neural network that was designed to control a Spirulina aquaculture process in a pilot plant in the north of Chile, is presented in this work. Spirulina is a super food, but is a delicate alga and its culture may be suddenly lost by rapid changes in the weather that can affect its temperature, salinity or pH. the neural network control system presented is complex and non linear, and has several variables. the previous automatic control system for the plant proved unable to cope with large climatic variations. the advantage of this new method is the improvement in efficiency of the process, and a reliable control system that is able to adapt to climatic changes. the future application of this work is related to the industrial production of food and fuel from micro algae culture, for the growing world population.

关键词： neural network Spirulina control aquaculture signal processing system

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Footstep planning for biped robot based on fuzzy Q-learning approach

Footstep planning for biped robot based on fuzzy Q-learning ...

引用

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

作者： Sabourin, Christophe Madani, Kurosh Yu, Weiwei Yan, Jie Univ Paris 12 LISSI EA 3956 IUT Senart Ave Pierre Point F-77127 Lieusaint France Northwestern Polytech Univ Flight Control & Simulat Inst Xian 710072 Peoples R China

ISBN: (纸本)9789898111319

the biped robots have more flexible mechanical systems and they can move in more complex environment than wheeled robots. their abilities to step over both static and dynamic obstacles allow to the biped robots to cross an uneven terrain where ordinary wheeled robots can fail. In this paper we present a footstep planning for biped robots allowing them to step over dynamic obstacles. Our footstep planning strategy is based on a fuzzy Q-learning concept. In comparison with other previous works, one of the most appealing interest of our approach is its good robustness because the proposed footstep planning is operational for both constant and random velocity of the obstacle.

关键词： biped robots footstep planning fuzzy Q-learning

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Experimental open-loop and closed-loop identification of a multi-mass electromechanical servo system

Experimental open-loop and closed-loop identification of a m...

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

作者： Abou-Zayed, Usama Ashry, Mahmoud Breikin, Tim Univ Manchester Control Syst Ctr Manchester M60 1QD Lancs England

ISBN: (纸本)9789898111326

the procedure of system identification of multi-mass servo system using different methods is described in this paper. Different black-box models are identified. Previous experimental results show that a model consisting of three-masses connected by springs and dampers gives an acceptable description of the dynamics of the servo system. However, this work shows that a lower order black-box model, identified using off-line or on-line experiments, gives better fit. the purpose of this contribution is to present experimental identification of a multi-mass servo system using different algorithms.

关键词： system identification black-box model recursive least square algorithm local optimal controller multi-mass servo systems

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Reduced order H_∞ synthesis using a particle swarm optimization method

Reduced order H<sub>∞</sub> synthesis using a particle swar...

引用

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

作者： Sandou, Guillaume Duc, Gilles Boucher, Patrick Supelec Automat Control Dept F-91192 Gif Sur Yvette France

ISBN: (纸本)9789898111302

H-infinity controller synthesis is a well known design method for which efficient dedicated methods have been developed. However, such methods compute a full order controller which has often to be reduced to be implemented. Indeed, the reduced order H-infinity synthesis is a non convex optimization problem due to rank constraints. In this paper, a particle swarm optimization method is used to solve such a problem. Numerical results show that the computed controller has a lower H-infinity norm than the controller computed from a classical Hankel reduction of the full order H-infinity controller.

关键词： particle swarm optimization reduced-order H-infinity synthesis metaheuristics

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Remote robot control and high availability

Remote robot control and high availability

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

作者： Anton, Silvia Anton, Florin Daniel Borangiu, theodor Univ Politehn Bucuresti Dept Automat & Appl Informat RO-060032 Bucharest Romania

ISBN: (纸本)9789898111319

Nowadays production flows are modular, each module in the enterprise being specialized and used to achieve a particular task. In many cases the modules are connected and materials are sequentially processed in each module resulting a final, unique product or assembly. One typical such production module is a flexible cell/system using multiple robots. In this structure, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. the paper describes a platform which is a software product designed to control and supervise multiple robot-vision controllers using remote connections with a number of Adept Technology V+ controllers configured to use a high availability implementation, either located in a local network or via Internet.

关键词： networked robotics high availability remote control flexible manufacturing systems robot vision

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