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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81-90 订阅

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A distributed hardware-software architecture for control an autonomous mobile robot

A distributed hardware-software architecture for control an ...

引用

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

作者： Britto, Ricardo S. Santana, Andre M. Souza, Anderson A. S. Medeiros, Adelardo A. D. Alsina, Pablo J. Univ Fed Rio Grande do Norte Dept Computat Engn & Automat Natal RN Brazil

ISBN: (纸本)9789898111319

In this paper, we introduce a hard ware-software architecture for controlling the autonomous mobile robot Kapeck. the Kapeck robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller-based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. the other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. the microcontroller-based boards are used with the sensors and actuators. the robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks.

关键词： control architecture autonomous mobile robot hybrid deliberative-reactive paradigm CAN bus

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Design and balancing control of AIT Leg EXoskeleton-I (ALEX-I)

Design and balancing control of AIT Leg EXoskeleton-I (ALEX-...

引用

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

作者： Aphiratsakun, Narong Chirungsarpsook, Kittipat Parnichkun, Manukid Asian Inst Technol Klongluang 12120 Pathumthanee Thailand

ISBN: (纸本)9789898111319

this paper is focused on the design of mechanical hardware, controller architectures, and analysis of balancing control at the Asian Institute of Technology Leg EXoskeleton-I (ALEX-I). ALEX-I has 12 DOF (6 DOF for each leg: 3 at the Hip, I at the knee and 2 at the ankle), controlled by 12 DC motors. the main objective of the research is to assist patients who suffer from the paraplegia and immobility due to the loss of lower limbs. ALEX-I's parts and assembly are designed on CAD software, SolidWorks, exported to MATLAB simulation environment, and observed using 3D VRML script interpreter to investigate balancing postures of the exoskeleton. the simulation model is proven to be accurate by comparing the resulting kinematics characteristics with the results from Corke's MATLAB robotics Toolbox (Corke, 1996). PC] 04 is employed as the main (master) processing unit for calculation of the balanced gait motion corresponding to feedback signals from the force sensors mounted at the two feet plates, whereas ARM7's are used for the low-level (slave) control of the angular position of all joints. the balanced posture set-points (joint trajectories) under the Center of Mass (CM) Criterion are generated in the simulation before testing on the real mechanical parts is implemented to avoid damaging the system.

关键词： ALEX-I EXoskeleton robot suit balancing control mechanical design

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A prototype for on-line monitoring and control of energy performance for renewable energy buildings

A prototype for on-line monitoring and control of energy per...

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

作者： Paris, Benjamin Eynard, Julien Francois, Gregory Talbert, thierry Polit, Monique Univ Perpignan Lab ELIAUS F-66860 Perpignan France

ISBN: (纸本)9789898111326

In this article, ways for improving the energetic performance of buildings are investigated. A state of the art leads to the introduction of a performance indicator expressed in kWh/m(2)/yr. To improve the value of this indicator, a processor-based prototype of a real-time data-acquisition and monitoring system is developed in collaboration with two industrial companies. the set of measurements and corresponding sensors that are necessary to compute the value of the indicator while being consistent with the natural segmentation of energy consumption, is listed, thanks to the representation of the building using a systemic approach. control algorithms are tested in simulation to improve renewable energy consumption while reducing fossil energy dependence, which are deemed to be applicable in practice using the proposed electronics. Simulations concerning the control and optimization of the power applied to two warmers in a room show large potential for fossil energy consumption reduction.

关键词： renewable energies energy performance indicators monitoring system smart transducers control algorithms predictive control optimal control high efficiency buildings

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Light-weight reinforcement learning with function approximation for real-life control tasks

Light-weight reinforcement learning with function approximat...

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

作者： Framling, Katy Aalto Univ FI-02015 Helsinki Finland

ISBN: (纸本)9789898111302

Despite the impressive achievements of reinforcement learning (RL) in playing Backgammon already in the beginning of the 90's, relatively few successful real-world applications of RL have been reported since then. this could be due to the tendency of RL research to focus on discrete Markov Decision Processes that make it difficult to handle tasks with continuous-valued features. Another reason could be a tendency to develop continuously more complex mathematical RL models that are difficult to implement and operate. Both of these issues are addressed in this paper by using the gradient-descent Sarsa(lambda) method together with a Normalised Radial Basis Function neural net. the experimental results on three typical benchmark control tasks show that these methods outperform most previously reported results on these tasks, while remaining computationally feasible to implement even as embedded software. therefore the presented results can serve as a reference both regarding learning performance and computational applicability of RL for real-life applications.

关键词： reinforcement learning function approximation normalised radial basis function network eligibility trace mountain-car cart-pole pendulum

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the application of reference-path control to vehicle platoons

The application of reference-path control to vehicle platoon...

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

作者： Matko, Drago Klancar, Gregor Blazic, Saso Simonin, Olivier Gechter, Franck Contet, Jean-Michel Gruer, Pablo Univ Ljubljana Fac Elect Engn Ljubljana 61000 Slovenia Univ Henri Poincare Lab LORIA Maia Project Nancy France UTBM Syst & Transportat Lab SET Belfort France

ISBN: (纸本)9789898111319

A new algorithm for the control of vehicle platooning is proposed and tested on a robot-soccer test bed. We considered decentralized platooning, i.e., a virtual train of vehicles, where each vehicle is autonomous and decides on its motion based on its own perceptions. the platooning vehicles have non-holonomic constraints. the following vehicle only has information about its own orientation and about its distance and azimuth to the leading vehicle. Its position is determined using odometry and a compass. the reference position and the orientation of the following vehicle are determined by the estimated path of the leading vehicle in a parametric polynominal form. the parameters of the polynominals are determined using the least-squares method. this parametric reference path is also used to determine the feed-forward part of the applied control algorithm. the feed-back control consists of a state controller with three inputs: the longitudinal and lateral position errors and the orientation error. the results of the experiments demonstrate the applicability of the proposed algorithm for vehicle platoons.

关键词： platoon reactive multiagent longitudinal and lateral control reference-path following control

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Parameter tuning of routing protocols to improve the performance of mobile robot teleoperation via wireless ad-hoc networks

Parameter tuning of routing protocols to improve the perform...

引用

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

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

ISBN: (纸本)9789898111319

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed some shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. this work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. the time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and AODV allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network.

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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Design of an analog-digital PI controller with gain scheduling for laser tracker systems

Design of an analog-digital PI controller with gain scheduli...

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

作者： Wachten, Christian Friedrich, Lars Müller, Claas Reinecke, Holger Ament, Christoph Department of Microsystems Technology University of Freiburg Georges-Koehler-Allee 103 79110 Freiburg Germany Institue for Automation and Systems Engineering TU Ilmenau 98693 Ilmenau Germany

ISBN: (纸本)9789898111326

Laser trackers are important devices in position metrology. A moving reflector is tracked by a laser beam to determine its position in space. To ensure a proper function of the device the feedback control loop is an essential part. An analog PI controller with online parameter adaptation and absolute distance measurement ability is used to guarantee an optimal dynamic system. the feedback controller is connected to a quadrant detector which serves as the sensor element in the control loop. the position of an incoming laser beam is measured by the quadrant detector and the controller provides the input signals for a subsequent actuator. the control variable is the deviation of the laser beam from the centre of the diode which should ideally be zero. the actuator consists of two axes and each one is equipped with a rotatable mirror. the task of the controller is to rotate the mirrors in such a way so that the laser beam follows the movements of the reflector. To design an optimal controller linear, time-invariant models of the actuator and the position sensor are developed to optimize its parameters. the gain of the plant correlates with the distance between the reflector and the laser tracker. To achieve the optimal dynamic performance the controller is automatically adapted to the distance during operation. A method based on oscillation injection to measure the absolute distance is developed. Due to higher dynamic demands a standard analog PI controller is implemented with the controller gain tuned by digital potentiometers. A microcontroller is used to adjust the parameters and to estimate the distance. During the power up sequence and in case of a beam loss the system is completely controlled by the digital part.

关键词： Laser beams

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Position control method of a non-contacting conveyance system for steel strip

Position control method of a non-contacting conveyance syste...

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

作者： Kueon, Yeongseob Yoon, Hyoung Jin Baek, Yoon Su Process Control and Rolling Technology Research Gr. POSCO Tech. Res. Lab. South Korea Department of Mechanical Engineering Yonsei University Seoul South Korea

ISBN: (纸本)9789898111319

Electromagnetic application system to improve the surface quality of steel strip is getting popular because customers demand better surface quality of steel strip. To realize such a requirement, non-contact conveyance methods by means of air floater and electromagnetic levitation and propulsion were considered. However, air floating method is not easy to control of the position of steel strip since the system is highly nonlinear. And thus, the application of a magnetic levitation and propulsion to steel strip conveyance is suitable. Sensors measuring positions of steel strip also need to be non-contact in order to maintain non-contact and simple characteristics of the system. this paper proposes the method of the spatial position estimation of steel plate without using sensors. this method simplifies non-contact conveyance system and cuts down expenses of the system. Spatial positions of steel strip can be estimated by currents supplied for electromagnet to maintain a fixed air gap. Estimated positions are then fed back into the control system to do position control. Computer simulation and experimental results are provided to verify the suitability of the proposed system performance and concept.

关键词： electromagnetic force non-contacting conveyance steel strip position control

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INTEGRATED PAth PLANNING AND TRACKING FOR AUTONOMOUS CAR-LIKE VEHICLES MANEUVERING

INTEGRATED PATH PLANNING AND TRACKING FOR AUTONOMOUS CAR-LIK...

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

作者： Gomez-Bravo, Fernando Lopez, Diego A. Real, Francisco Merino, Luis Matamoros, Jose M. Univ Huelva Dept Ingn Elect SI & Automat La Rabida 21819 Huelva Spain Univ Seville Robot Vis & Control Grp Seville 41092 Spain

ISBN: (纸本)9789896740009

this paper proposes a new method for control car-like vehicles maneuvering. For this purpose, traditional planning and tracking algorithms has been modified in order to follow complex maneuvers in a frame of a distributed control architecture. thus, planning and tracking algorithm run in different platforms exchanging data in order to control the maneuvers performance.

关键词： Autonomous Car-like vehicle Maneuvering Motion Planning Path-tracking

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Business process development for Industrial Cluster

Business process development for Industrial Cluster

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Kangilaski, Taivo Department of Computer Control Tallinn University of Technology 5 Ehitajate tee Tallinn Estonia

ISBN: (纸本)9789898565211

Small production companies frequently have only limited amount of customers, especially in country sides. To have more orders and to be more competitive, they need to cooperate and form Industrial Clusters. To manage Industrial Cluster, there should be firm Quality Management System. the current article proposes approach about handling that complicity, which is related to the Industrial Cluster Management.

关键词： Enterprise resource management

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